CN107065682A - A kind of robot controller opens the implementation method of bottom position instruction interface - Google Patents

Abstract

The invention discloses a method for realizing the open bottom position command interface of a robot controller, including the transmission of the sequence data file of the pose node sequence for the trajectory planning of the third-party task space; the transmission of the sequence data file of the joint position node sequence for the trajectory planning of the joint space; The attitude node sequence is transmitted online; the joint space trajectory planning joint position node sequence is transmitted online. The third-party position command of the present invention can be divided into online and offline in terms of transmission mode, and can be divided into task space pose command and joint space position command in terms of command sense. The underlying position command interface of the open robot controller should support these transmission methods and command meanings.

Description

A method for realizing the open bottom position command interface of robot controller

technical field

The invention belongs to the technical field of industrial robot control, and in particular relates to a method for realizing an open bottom position command interface of a robot controller.

Background technique

Industrial robots are the jewel in the crown of the manufacturing industry and will play an important role in the new generation of industrial revolution. In order to seize the opportunity in the new generation of industrial revolution, my country has proposed the "Smart Manufacturing 2025" national strategy to deal with the challenges brought by industrial restructuring, high-quality manufacturing and population aging to the manufacturing industry. Especially in my country's Guangdong Province, Zhejiang Province and other manufacturing-developed regions, they have launched "machine replacement" plans to realize the upgrading of the manufacturing industry and promote the development of the manufacturing industry. Industrial robot technology is facing unprecedented policy benefits and market demand. However, my country's industrial robot market is monopolized by several giants such as KUKA, ABB, and FANUC, which has led to difficulties in the development of the local robot industry. Moreover, in order to protect technology and market interests, robot manufacturing enterprises have extremely closed industrial robot control systems, which not only increases the cost of enterprise development and application, but also limits the development of industrial robot technology.

The opening of the bottom position command interface of the robot controller is of great significance to realize the special motion requirements, integrate the third-party offline automatic programming technology, and compare the performance of kinematics and trajectory planning algorithms. However, the current commercialized robot control systems all use a dedicated controller with a closed structure. Generally, a dedicated computer is used as the upper-level main control computer, a dedicated robot language is used as an off-line programming tool, a dedicated microprocessor is used, and the control algorithm is solidified in EEPROM. middle. It is difficult for such a dedicated system to guarantee support for position instructions provided by third-party platforms. Although rapid control prototyping systems such as DSPACE provide a general-purpose hardware platform, the software still needs to be built from the bottom layer, and the time and cost are high. So there is a need for an open robot controller that can provide support for underlying position commands.

Contents of the invention

In order to overcome the problem that the bottom position command interface of the robot special controller is closed, the present invention proposes a realization method of opening the bottom position command interface of the robot controller. The third-party position command can be divided into online and offline in terms of transmission mode, and can be divided into task space pose command and joint space position command in terms of command sense. The underlying position command interface of the open robot controller should support these transmission methods and command meanings.

In order to achieve the above object, the implementation method of the open bottom position command interface of the robot controller of the present invention mainly includes the following steps:

Third-party mission space trajectory planning pose node sequence data file transfer.

The third-party platform writes the pose node sequence of the task space trajectory planning into the storage module RAM/ROM, and the memory interface module in the FPGA reads the task space pose node sequence in the RAM/ROM under the action of the control bus A to Cache module Block RAM. The main CPU sets the control parameters, reads the pose node sequence stored in the Block RAM through the FPGA internal bus A to the main CPU inverse kinematics solver for inverse kinematics solving, and converts the pose node sequence into a joint rotation angle sequence, The joint rotation angle sequence is converted into a joint position sequence that drives the joint rotation through the joint space trajectory planning of the trajectory planning module, and is sent to the position control module to realize the motion control of each joint. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.

Third-party joint space trajectory planning joint position node sequence data file transmission.

The third-party platform writes the discrete joint position sequence of the joint space trajectory planning into the storage module RAM/ROM, the main CPU sets the control parameters, and reads the discrete joint position sequence stored in the RAM/ROM through the memory interface module in the FPGA. In the cache module Block RAM, the main CPU reads the discrete joint position sequence in the cache module BlockRAM through the internal bus A, and sends it to the position control module to realize the motion control of each joint. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.

The third-party task space trajectory planning pose node sequence is transmitted online.

The third-party platform writes the pose node sequence of the task space trajectory planning into the FPGA cache module Block RAM through the auxiliary CPU, the main CPU sets the control parameters, and reads the pose node sequence stored in the Block RAM through the FPGA internal bus A. Take it to the inverse kinematics solver of the main CPU to solve the inverse kinematics, convert the pose node sequence into a joint rotation angle sequence, and convert the joint rotation angle sequence into a joint position sequence that drives the joint rotation through the joint space trajectory planning of the trajectory planning module, and Send it to the position control module to realize the motion control of each joint. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.

Third-party joint space trajectory planning joint position node sequence online transmission.

The third-party platform writes the joint position node sequence of the joint space trajectory planning into the cache module Block RAM of the FPGA through the auxiliary CPU, and the main CPU reads the joint position node sequence in the cache module Block RAM through the internal bus A, and sends it to The position control module realizes the motion control of each joint. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.

The present invention has the following beneficial effects:

The third-party task space trajectory planning pose node sequence data file transmission and the third-party joint space trajectory planning joint position node sequence data file transmission adopt the file transmission method to transfer the data to the control system memory. The advantage is that its control process can be defined as A specific working function module, which is arbitrarily called by the main CPU, is used for product development and realizes special motion requirements; the third-party task space trajectory planning pose node sequence online transmission method and the third-party joint space trajectory planning joint position node sequence online transmission The method uses the auxiliary CPU to contact and receive trajectory data to realize the motion control of the robot. It is mainly used for research work, and can realize the comparative study of different kinematic models and motion solving algorithms, which is convenient and fast.

Description of drawings

Figure 1 is a schematic diagram of the open interface control of the underlying position command.

detailed description

The present invention is described in further detail below in conjunction with accompanying drawing:

The method for realizing the opening of the bottom position command interface of the robot controller according to the present invention mainly includes the following steps:

Third-party mission space trajectory planning pose node sequence data file transfer.

This mode is mainly used in the transmission of offline data of third-party task space trajectory planning. The third-party platform writes the pose node sequence of task space trajectory planning into the storage module RAM/ROM, and the memory interface module in the FPGA is connected to the control bus A. Read the task space pose node sequence in RAM/ROM into the cache module Block RAM under the action of . The main CPU sets the control parameters, reads the pose node sequence stored in the Block RAM through the FPGA internal bus A to the main CPU inverse kinematics solver for inverse kinematics solving, and converts the pose node sequence into a joint rotation angle sequence, The joint rotation angle sequence is converted into a joint position sequence that drives the joint rotation through the joint space trajectory planning of the trajectory planning module, and is sent to the position control module to realize the motion control of each joint. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.

Third-party joint space trajectory planning joint position node sequence data file transmission.

This mode is mainly used in the transmission of offline data for third-party joint space trajectory planning. The third-party platform writes the discrete joint position sequence of the joint space trajectory planning into the storage module RAM/ROM, the main CPU sets the control parameters, and reads the discrete joint position sequence stored in the RAM/ROM through the memory interface module in the FPGA. In the cache module Block RAM, the main CPU reads the discrete joint position sequence in the cache module Block RAM through the internal bus A, and sends it to the position control module to realize the motion control of each joint. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.

The third-party task space trajectory planning pose node sequence is transmitted online.

This mode is mainly used in the transmission of online data for third-party mission space trajectory planning. The third-party platform writes the pose node sequence of the task space trajectory planning into the FPGA cache module Block RAM through the auxiliary CPU, the main CPU sets the control parameters, and reads the pose node sequence stored in the Block RAM through the FPGA internal bus A. Take it to the inverse kinematics solver of the main CPU to solve the inverse kinematics, convert the pose node sequence into a joint rotation angle sequence, and convert the joint rotation angle sequence into a joint position sequence that drives the joint rotation through the joint space trajectory planning of the trajectory planning module, and Send it to the position control module to realize the motion control of each joint. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.

Third-party joint space trajectory planning joint position node sequence online transmission.

This mode is mainly used in the transmission of online data for third-party joint space trajectory planning. The third-party platform writes the joint position node sequence of the joint space trajectory planning into the cache module Block RAM of the FPGA through the auxiliary CPU, and the main CPU reads the joint position node sequence in the cache module Block RAM through the internal bus A, and sends it to The position control module realizes the motion control of each joint. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.

Embodiment one

Referring to Figure 1, the transmission of the sequence data file of the pose node sequence in the third-party task space trajectory planning is taken as an example for illustration. After the mission space trajectory planning is performed on the third-party platform, the pose node sequence data file is saved as a .bin format file, and the trajectory data file is downloaded to the specified storage segment of the trajectory data in the RAM/ROM block through the network port. The main CPU enables the DMA controller by setting the corresponding bit of the register of the DMA controller as 1. The DMA controller reads the pose node sequence data from the specified storage location stored in the RAM/ROM block to the cache Block RAM, and the main CPU reads the pose node sequence in the cache Block RAM through the internal bus controller A, And send it to the main CPU kinematics inverse solution module, and send the solved joint rotation angle sequence to the position control module, and the position control module realizes joint trajectory tracking through PD control. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.

Embodiment two

Referring to Fig. 1, the online transmission method of the joint position node sequence of the third-party joint space trajectory planning is taken as an example for illustration. The third-party platform sends the joint position node sequence of joint space trajectory planning to the auxiliary CPU online in hexadecimal format through the Ethernet interface and UDP protocol, and the communication speed is 1kHz. When the auxiliary CPU receives a frame of data, it writes it into the block RAM of the cache module, and the starting address is 0x0000. The main CPU reads the joint position node sequence in the cache module Block RAM through the internal bus A, and transmits it to the position control module, and the position control module realizes joint trajectory tracking through PD control. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.

Claims (5)

1. a kind of realization method that robot controller opens bottom position command interface, is characterized in that, comprises the following steps: 1) Third-party task space trajectory planning pose node sequence data file transmission; 2) Third-party joint space trajectory planning joint position node sequence data file transmission; 3) Online transmission of the third-party task space trajectory planning pose node sequence; 4) Third-party joint space trajectory planning joint position node sequence online transmission. 2. a kind of robot controller according to claim 1 opens the implementation method of bottom position instruction interface, it is characterized in that, In step 1), the third-party platform writes the pose node sequence of the task space trajectory planning into the storage module RAM/ROM, and the memory interface module in the FPGA writes the task space pose in RAM/ROM under the action of the control bus A The node sequence is read into the cache module Block RAM, the main CPU sets the control parameters, and the pose node sequence stored in the BlockRAM is read through the FPGA internal bus A to the main CPU inverse kinematics solver for inverse kinematics solution. The pose node sequence is converted into a joint rotation angle sequence, and the joint rotation angle sequence is converted into a joint position sequence that drives the joint rotation through the joint space trajectory planning of the trajectory planning module, and is sent to the position control module to realize the motion control of each joint. At the same time, the main CPU passes The FPGA internal bus A writes the joint position sequence into the joint position control command module, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B. 3. a kind of robot controller according to claim 1 opens the implementation method of bottom position command interface, it is characterized in that, described step 2), the third party joint space trajectory planning joint position node sequence data file transmission; The third-party platform writes the discrete joint position sequence of the joint space trajectory planning into the storage module RAM/ROM, the main CPU sets the control parameters, and reads the discrete joint position sequence stored in the RAM/ROM through the memory interface module in the FPGA. In the cache module Block RAM, the main CPU reads the discrete joint position sequence in the cache module Block RAM through the internal bus A, and sends it to the position control module to realize the motion control of each joint. The position sequence is written into the joint position control command module, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B. 4. the realization method of a kind of robot controller open bottom position command interface according to claim 1, it is characterized in that, described step 3), third-party task space trajectory planning pose node sequence online transmission: third-party platform The pose node sequence of the task space trajectory planning is written into the FPGA cache module Block RAM through the auxiliary CPU, the main CPU sets the control parameters, and the pose node sequence stored in the Block RAM is read to the main CPU through the internal bus A of the FPGA. The inverse kinematics solution is performed in the CPU inverse kinematics solver, and the pose node sequence is converted into a joint rotation angle sequence. The joint rotation angle sequence is converted into a joint position sequence that drives the joint rotation through the joint space trajectory planning of the trajectory planning module, and is transmitted to the position The control module realizes the motion control of each joint. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position from the joint position control command module through the internal bus B. Control instruction. 5. the realization method of a kind of robot controller open bottom position instruction interface according to claim 1, it is characterized in that, described step 4) third-party joint space trajectory planning joint position node sequence online transmission: third-party platform will The joint position node sequence of the joint space trajectory planning is written into the cache module Block RAM of the FPGA through the auxiliary CPU, and the main CPU reads the joint position node sequence in the cache module Block RAM through the internal bus A, and transmits it to the position control module for realization Motion control of each joint, while the main CPU writes the joint position sequence into the joint position control command module through the FPGA internal bus A, and the auxiliary CPU can read the current joint position control command from the joint position control command module through the internal bus B.