1. Industrial robot control system hardware structure
The controller is the core of the robot system, and foreign companies implement strict sealing locks on China. In recent years, with the development of microelectronics technology, the performance of microprocessors has become higher and higher, and the price has become cheaper and cheaper. Currently, there are 32-bit microprocessors of 1-2 dollars on the market. Cost-effective microprocessors bring new opportunities for robot controllers, making it possible to develop low-cost, high-performance robot controllers. In order to ensure that the system has sufficient computing and storage capabilities, the current robot controllers are mostly composed of ARM series, DSP series, POWERPC series, Intel series and other chips with strong computing power. In addition, because the existing general-purpose chip can not fully meet the requirements of price, performance, integration and interface of some robot systems in terms of function and performance, this has created the demand for SoC (SystemonChip) technology of the robot system. The integration of a specific processor with the required interface simplifies the design of the system's peripheral circuitry, reduces system size, and reduces cost. For example, Actel integrated NEOS or ARM7 processor cores into its FPGA products to form a complete SoC system. In terms of robot motion controllers, its research is mainly concentrated in the United States and Japan, and there are mature products, such as the United States DELTATAU company, Japan Peng Li Co., Ltd. and so on. Its motion controller is based on DSP technology and uses a PC-based open architecture.
2. Industrial robot control system architecture
In terms of controller architecture, its research focuses on the specification of information exchange between functions and functions. In the open controller architecture research, there are two basic structures, one is based on the hardware hierarchy, the type structure is relatively simple, in Japan, the architecture is divided on the basis of hardware, such as Mitsubishi Heavy Industries Co., Ltd. The structure of the PA210 portable universal smart-armed robot is divided into five-layer structure; the other is based on the functional division structure, which considers the hardware and software together, which is the research and development direction of the robot controller architecture.
3. Control software development environment
In terms of robot software development environment, general industrial robot companies have their own independent development environment and independent robot programming languages, such as Japan Motoman Company, Germany KUKA Company, USA Adept Company, Sweden ABB Company. Many universities have a lot of research work in the robot development environment (Robot Development Environment), providing a lot of open source, can be integrated and controlled under some robot hardware structure, and has carried out many related experiments in the laboratory environment. The existing robot system development environments at home and abroad include TeamBots, v.2.0e, ARIA, V.2.4.1, Player/Stage, v.1.6.5.1.6.2, Pyro.v.4.6.0, CARMEN.v.1.1. .1, MissionLab.v.6.0, ADE.V.1.0beta, Miro.v.CVS-March17.2006, MARIE.V.0.4.0, FlowDesigner.v.0.9.0, RobotFlow.v.0.2.6, etc. Wait. From the perspective of the development of the robot industry, there are two requirements for the robot software development environment. On the one hand, they are from robotic end users who not only use robots, but also want to be able to give the robot more functions by programming. This programming is often implemented in a visual programming language, such as the Lego MindStormsNXT graphical programming environment and Microsoft RoboticsStudio. A visual programming environment is provided.
4, robot-specific operating system
(1), VxWorks, VxWorks operating system is an embedded real-time operating system (RTOS) designed and developed by WindRiver in the United States in 1983, which is a key component of the Tornado embedded development environment. VxWorks has a configurable microkernel architecture; efficient task management; flexible inter-task communication; microsecond interrupt processing; support for POSIX1003.1b real-time extension standards; support for multiple physical media and standard, complete TCP/IP network protocols Wait.
(2), WindowsCE, WindowsCE and Windows series have good compatibility, which is undoubtedly a major advantage of WindowsCE promotion. Windows CE provides a feature-rich operating system platform for building dynamic applications and services for handheld devices and wireless devices. It can run on a variety of processor architectures and is generally suitable for those with limited memory footprint. device of.
(3), embedded Linux, because its source code is open, people can arbitrarily modify to meet their own applications. Most of them are GPL-compliant, open source and free. It can be applied to the user's own system with minor modifications. There is a large developer community, no need for special talents, as long as you understand Unix/Linux and C language. The amount of hardware supported is huge. There is no essential difference between embedded Linux and ordinary Linux. Hardware embedded Linux used on PCs is almost all supported. And the driver source code of all kinds of hardware can be obtained, which is very convenient for users to write their own proprietary hardware drivers.
(4), μC/OS-II,μC/OS-II is a well-known real-time kernel for source code disclosure. It is designed for embedded applications and can be used for 8-bit, 16-bit and 32-bit microcontrollers or Digital Signal Processor (DSP). Its main features are open source code, portability, curability, tailorability, preemptive kernel, determinism, and more.
(5), DSP/BIOS, DSP/BIOS is a size-cuttable real-time multitasking operating system kernel designed and developed by TI for its TMS320C6000TM, TMS320C5000TM and TMS320C28xTM series DSP platforms. It is the component of TI's CodeComposerStudioTM development tool. One of the parts. DSP/BIOS is mainly composed of three parts: multi-threaded real-time kernel; real-time analysis tool; chip support library. With real-time operating system development programs, complex DSP programs can be developed quickly and easily.
5, robot servo communication bus technology
At present, there is no servo communication bus dedicated to robot systems in the world. In actual application, some commonly used buses, such as Ethernet, CAN, 1394, SERCOS, USB, RS-485, etc., are usually used according to system requirements. In the robot system. Most of the current communication control buses can be classified into two types, namely serial bus technology based on RS-485 and line drive technology and high-speed serial bus technology based on real-time industrial Ethernet.