机器人控制器串行加工结构 - 爱普生

发布时间:2024-8-30 12:03:23|资料来源:爱普生/爱普生

所谓串行处理结构,是指机器人的控制算法由串口机加工而成,关于这类机械手,从记账机结构、控制方式上区分开来,并可分为以下几种:

机器人控制器串行加工结构 - 爱普生

1、单CPU结构和集中控制方式,使用强大的记账机完成所有控制功能, 而且这种结构是在机器人早期选择的,但控制过程需要大量的核算(如坐标变化),因此控制结构较慢。

2、二级CPU结构及主从控制方式一级CPU为主机,负责系统管理、机器人语言编译和人机界面功能,还利用其算力完成坐标变化和轨迹插值,并将计算结果作为关节运动的增量定期发送到公共存储器中供副CPU读取;辅助 CPU 完成所有关节方向的数字控制。这类系统的两条CPU总线之间根本没有通信,只通过共享内存交换数据,是一种松散耦合的关系。通过选择更多的 CPU 很难进一步分散功率。

3、多CPU结构和分布式控制方式

目前一般选择这种上下机两级分布式结构,上位机负责整个系统的管理、运动学核算、轨迹规划等。下层计算机由多个C PU组成,每个CPU控制一个关节运动,这些CPU与主控制器之间的通信通过总线紧密耦合,这种结构的控制器的工作速度和控制功能得到了显著提高。然而,这些多CPU系统的共同特点是针对特定问题选择的功能分布式结构,即每个处理器都有固定的任务,这是世界上大多数商用机器人机械手的结构。

机械手会计机控制系统的方位角控制部分几乎无一例外地选择数字方位角控制。

以上几类机械手都使用串行机来计算机器人控制算法,它们有一个共同的缺点:记账负载和实时性差。因此,大多数采用离线规划、前馈补偿解耦等方法来减轻实时控制中的记账负担,在运行过程中机器人受到干扰时,其功能会受到影响,更难保证高速运动所需的精度指标。


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