Motion control is closely related to robots. Robots in industrial applications need to move themselves through actuators composed of multiple motors to perform their mission or to grasp tools through a robot arm.
The motion control system of the robot is usually composed of a motor controller, a motor drive, and a motor body (mostly a servo motor). The motor controller has an intelligent computing function and can transmit commands to drive the motor. The drive can provide boost current to drive the motor according to the operator's command. The motor can move the robot directly, or it can move through the transmission system or chain system.
Output type
Mobile robots are often used to explore large areas of land and can move using a variety of propellers, robot feet, wheels, rails, or robotic arms. Examples include various NI display channels, including VINI, VolksBot, and Isadora. These robots use a mecanum wheel, a general wheel, and a robotic arm. For embedded control, it can be integrated with real-time manipulators and FPGAs through embedded channels such as NI CompactRIO. The CompactRIO also includes a re-equipable chassis that can accommodate a variety of I/O equipment, including sensor inputs and motor control.
Servo motor control principle and its types
Servo motor is a common motor in robot application, and its fundamental control principle is to use the control loop, combine the necessary motor response, and then help the motor enter the required situation, such as position and speed. Since it is necessary for servo motors to know the current situation through the control loop, their stability is higher than that of stepper motors.
There are different types of servo motors – brushed and brushless. The difference between a brushed servo motor and a brushless servo motor is its communication mechanism. Servo motors work on the basis of a reverse magnetic force, which moves or builds torque. For example, there is a fixed magnetic field and a rotating magnetic field. By simply changing the direction of the current flowing through the magnetic field, the poles can be changed and the poles (rotor) can be rotated at the beginning. Changing the direction of the coil's current is known as "commutation".
Brushed servo motor
The control principle of the brushed motor is to change the current in the motor coil through mechanical brushes. Since the brush motor can change the direction of the incoming current, it can be powered by a direct current supply (DC). The brushed servo motor can be divided into 2 groups of parts:
The motor casing has a field magnet, i.e., a stator
The rotor is made of a coil with an iron center in the middle and connected to a current converter
The brushes are in contact with the current converter and direct the current into the coil. After a period of use, the brushes may wear out and cause friction on the system; This is not the case in brushless servo motors.
Brushless servo motor
Most brushless servo motors run on alternating current (AC) power. The principle of operation of the brushless servo motor is to place the iron center outside. When the rotor becomes a temporary magnet, the stator becomes a coil wound around the iron. The current from the external circuit will be rotated at the predetermined rotor position. Therefore, this servo motor is driven by alternating current. Of course, there are also brushless DC servo motors. These motors typically have some electronic switching circuitry that converts the incoming DC. Brushless servo motors are more expensive, but less wear-free.
Stepper motors
In the application of robot motion, stepper motors are not as popular as servo motors, but they are still an important model of motors, and the application method is relatively simple. Compared with servo motors, stepper motors are slower and more advanced. The stepper motor has a series of built-in brushless teeth, which can be used to change the electromagnetic charge through the current and then the next set of brushes pull the rotor, and the previous group of brushes pushes the rotor, and then energizes the stepper motor.
Compared with servo motors, stepper motors do not need to react under normal conditions because they can be controlled by the number of brush teeth (i.e. equal to the distance moved). However, the brush teeth may be lost due to obstacles, so the encoder can be used as a response.
Motion manipulators and software architecture
Many manufacturers have their own drive systems to control the robots. When considering the motion control system in the application of robots, it is necessary to understand the initial mesh cycle.
As for the higher-level function of robot mission planning, it is the policy to make the robot's actions reach the end. It may include multiple sets of policies in a single command, or it may allow the robot to enter a specific location. If the robot uses a tele-operated architecture, then these instructions*** may be transmitted through an off-board computer, where the robot's subsequent actions or behaviors can be selected by the human operator. In a fully automated robot, depending on the algorithm used for the decision plan, mission planning may also be performed directly on the board.
When planning a pathway, it is often the case that "how do I get to my destination to complete this mission?" Or, "How do I move the robot arm to that position?" And so on. This problem can be solved by the robot motion controller.
Once the destination and trek speed are known, the servo motor controller announces the control signal (PWM or current, etc.) to the actual motor drive, allowing it to reach its destination. Generally, PID is used to construct the control function. It is also important to note that security should also be built in at this time. For example, if a robot on a high-speed trek detects a human in its current path, it should announce an emergency signal to stop the motor or brake immediately.
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