CN107577168A - A kind of robot control system and method - Google Patents
A kind of robot control system and method Download PDFInfo
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- CN107577168A CN107577168A CN201710807928.4A CN201710807928A CN107577168A CN 107577168 A CN107577168 A CN 107577168A CN 201710807928 A CN201710807928 A CN 201710807928A CN 107577168 A CN107577168 A CN 107577168A
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Abstract
The present invention relates to a kind of robot control system and method.The system includes：A potentiometer and a motor are fixed on each armshaft of main robot, all potentiometers are connected with industrial computer；Industrial computer is connected with multiple motor drivers, a motor driver and a motor connection；First potentiometer is used for the first position information for gathering the first armshaft of main robot, and first position information is sent to industrial computer；Industrial computer calculates the first motor the first torque to be output, by the first torque transmitting to the first motor driver according to first position information；First motor driver drives the first motor to rotate according to the first torque.The positional information of the main robot armshaft of potentiometer collection, is transmitted to motor driver after being converted into torque, realizes that motor rotates, so as to realize gravitational equilibrium.
Description
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of robot control system and method.
Background technology
High-voltage hot-line work is that power industry carries out electric power overhaul, transformation and the important means of scrap build.High-voltage line
Passerby's work livewire work labor intensity is big, operating efficiency and automatization level are low, potential safety hazard be present, and is also easy to trigger people
Body casualty accident.Hot line robot all be have developed both at home and abroad for this to replace being accomplished manually altitude hot-line operation task.But
Be it is most of under principal and subordinate's remote control system of livewire work fail to realize gravitational equilibrium, and control system is more complicated,
Cost is higher, expensive.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of robot control system and method.
In a first aspect, the invention provides a kind of robot control system, the system includes：Main robot, multiple current potentials
Meter, industrial computer, multiple motor drivers and multiple motors；
A potentiometer and a motor are fixed on each armshaft of main robot, all potentiometers connect with industrial computer
Connect；Industrial computer is connected with multiple motor drivers, a motor driver and a motor connection；
First potentiometer is used for the first position information for gathering the first armshaft of main robot, and first position information is sent out
Deliver to industrial computer；
Industrial computer calculates the first motor the first torque to be output, by the first torque transmitting extremely according to first position information
First motor driver；
First motor driver drives the first motor to rotate according to the first torque, wherein, the first armshaft is main robot
Any one in armshaft, and the first potentiometer, the first motor and the first motor driver are respectively positioned on the first of main robot
On armshaft.
The beneficial effects of the invention are as follows：The first potentiometer installed on first armshaft of main robot is gathered on the armshaft
First position information.Then calculated according to the first position information on the armshaft to be output with the motor installed on this armshaft
The first torque.Then rotated according to the motor on the first Torque Control armshaft, the gravitational equilibrium of the armshaft is overcome with this.
Further, the system also includes：At least one analog quantity acquiring device, all potentiometers pass through at least one simulation
Amount collector is connected with industrial computer；
At least one analog quantity acquiring device is used to carry out the positional information of each armshaft of main robot of potentiometer collection
Pretreatment；
And pretreated positional information is sent to industrial computer.
Advantageous effects using above-mentioned further scheme are, the position that analog quantity acquiring device gathers to potentiometer
After information is pre-processed, industrial computer can be facilitated to be identified.
Further, the system also includes：At least one analog output device；Industrial computer is defeated by least one analog quantity
Go out device to be connected with all motor drivers；
First analog output device is used for the first motor for being calculated to industrial computer the first torque to be output and located in advance
Reason；
And by pretreated first torque transmitting to the first motor driver, wherein the first analog output device is at least
Any one analog output device in one analog output device.
Advantageous effects using above-mentioned further technical scheme are, similar, and industrial computer is by the first torque
, it is necessary to which the first torque is changed before output to motor driver, can know in order to be converted into motor driver
Other data.
Further, the system also includes：Move collaborative controller and from robot；
Industrial computer is connected with motion collaborative controller；Motion collaborative controller is connected with from robot；
Industrial computer is additionally operable to positional information being forwarded to motion collaborative controller；
Move collaborative controller to be used to be rotated from the first armshaft of robot according to the control of first position information, wherein slave
The first armshaft of device people and the first armshaft of main robot correspond.
Advantageous effects using above-mentioned further technical scheme are that the industrial computer of main robot cooperates with motion
Controller connects.First position information is sent to motion collaborative controller, to move collaborative controller control by industrial computer
Make from the first armshaft of robot and rotate, and ensure from the dynamic of the first armshaft of the action of the armshaft of robot first and main robot
Make unanimously, so as to using the cooperation between principal and subordinate robot and miscellaneous part, complete altitude hot-line operation.
Further, the system also includes：Multiple torque sensors；
A torque sensor is fixed from each armshaft of robot；
First torque sensor is used to gather the second torque exported when rotating from the first armshaft of robot；
And the second torque is forwarded to industrial computer by moving collaborative controller；
Industrial computer is used to zoom in and out the second torque according to preset ratio, obtains the 3rd torque；
And by the 3rd torque transmitting to the first motor driver；
First motor driver is used to be rotated according to the 3rd torque, the first motor of driving.
Advantageous effects using above-mentioned further technical scheme are, slave is gathered by the first torque sensor
The second torque that device people armshaft exports when rotating, then sends the second torque to industrial computer, industrial computer is carried out necessarily to it
After the scaling of ratio, motor driver is forwarded to, and rotate using motor driver motor.It is a certain proportion of so as to realize
Force feedback.Allow users to easily experience the power exported from machine man-hour.
Further, the armshaft number of main robot is more than or equal to 6；From the number and master machine of the armshaft of robot
The armshaft number of people is identical.
Second aspect, the invention provides a kind of robot control method, this method includes：Gather the first of main robot
The first position information of armshaft；
According to first position information, the first motor the first torque to be output is calculated；
The first motor is driven to rotate according to the first torque.
The beneficial effects of the invention are as follows：The beneficial effects of the invention are as follows：First installed on first armshaft of main robot
Potentiometer gathers the first position information on the armshaft.Then calculated and this axle according to the first position information on the armshaft
The motor installed on arm the first torque to be output.Then rotated according to the motor on the first Torque Control armshaft, come with this
Overcome the gravitational equilibrium of the armshaft.
Further, after the first position information for gathering the first armshaft of main robot, method also includes：
The positional information of each armshaft of main robot is pre-processed.
Advantageous effects using above-mentioned further scheme are, the positional information of potentiometer collection is located in advance
After reason, industrial computer can be facilitated to be identified.
Further, according to first position information, after calculating the first motor the first torque to be output, method is also wrapped
Include：First torque is pre-processed.
Advantageous effects using above-mentioned further technical scheme are, similar, and industrial computer is by the first torque
, it is necessary to which the first torque is changed before output to motor driver, can know in order to be converted into motor driver
Other data.
Further, method also includes：Rotated according to positional information control from the first armshaft of robot, wherein from machine
The first armshaft of people and the first armshaft of main robot correspond.
Advantageous effects using above-mentioned further technical scheme are that the industrial computer of main robot cooperates with motion
Controller connects.First position information is sent to motion collaborative controller, to move collaborative controller control by industrial computer
Make from the first armshaft of robot and rotate, and ensure from the dynamic of the first armshaft of the action of the armshaft of robot first and main robot
Make unanimously, so as to using the cooperation between principal and subordinate robot and miscellaneous part, complete altitude hot-line operation.
Further, controlled according to positional information after the first armshaft of robot rotates, method also includes：Collection from
The second torque that first armshaft of robot exports when rotating；
Second torque is zoomed in and out according to preset ratio, obtains the 3rd torque；
According to the 3rd torque, the first motor of driving rotates.
Advantageous effects using above-mentioned further technical scheme are, slave is gathered by the first torque sensor
The second torque that the armshaft of device people first exports when rotating, then sends the second torque to industrial computer, industrial computer will be according to pre-
If ratio zooms in and out to the second torque, the first motor driver is subsequently forwarded to, and utilize the first motor driver driving master
The motor of the armshaft of robot first rotates.So as to realize a certain proportion of force feedback.Allow users to easily experience slave
The power that device man-hour is exported.
Brief description of the drawings
Fig. 1 is a kind of robot control system architecture schematic diagram provided in an embodiment of the present invention；
Fig. 2 is another robot control system architecture schematic diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of robot control method schematic flow sheet provided in an embodiment of the present invention.
Embodiment
In describing below, in order to illustrate rather than in order to limit, it is proposed that such as particular system structure, interface, technology it
The detail of class, understand the present invention to cut thoroughly.However, it will be clear to one skilled in the art that there is no these specific
The present invention can also be realized in the other embodiments of details.In other situations, omit to well-known device, circuit and
The detailed description of method, in case unnecessary details hinders description of the invention.
Fig. 1 is a kind of robot control system architecture schematic diagram provided in an embodiment of the present invention, specific as shown in figure 1, should
System includes：Main robot 10, multiple potentiometers 20, industrial computer 30, multiple motor drivers 40 and multiple motors 50.
Wherein, a potentiometer 20 and a motor 50, all potentiometers 20 are fixed on each armshaft of main robot 10
It is connected with industrial computer 30；Industrial computer 30 is connected with multiple motor drivers 40, a motor driver 40 and a motor 50
Connection.
First potentiometer 20 is used for the first position information for gathering the first armshaft of main robot, and by first position information
Send to industrial computer.
Industrial computer 30 calculates the first motor 50 first torque to be output, the first torque is passed according to first position information
Transport to the first motor driver 40；
First motor driver 40 drives the first motor 50 to rotate according to the first torque, wherein, the first armshaft is main machine
Any one in the armshaft of people 10, and the first potentiometer 20, the first motor 50 and the first motor driver 40 are respectively positioned on master
On first armshaft of robot 10.
Specifically, after the first potentiometer 20 gathers the first position information on the armshaft of main robot 10 first, by first
Confidence breath is sent to industrial computer 30, and industrial computer 30 can go out the first motor 50 first power to be output according to the positional information calculation
Square.It is specifically prior art according to the method for positional information calculation the first motor 50 first torque to be output.Here it is simple
The flow for calculating the first torque is introduced, but circular is not described in detail.
First potentiometer 20 is connected with the one end of the first motor 50, and when the first motor 50 rotates, the first potentiometer
20 synchronous axial systems.First potentiometer 20 rotates different angles, then can export different voltage.Rotated not by potentiometer 20
Same angle, the first position information of the first armshaft can be reacted indirectly.I.e., here positional information is in embodiment, and really one
Individual magnitude of voltage.The magnitude of voltage is sent to industrial computer 30.Industrial computer 30 is changed to magnitude of voltage, is converted into angle value,
The first motor 50 first torque to be output is calculated indirectly.
Optionally, when calculating the first motor 50 first torque to be output indirectly according to angle value, can use following
The mode of prior art：The angle value is substituted into transition matrix set in advance, the first of the first armshaft end can be obtained
Posture information.And embody really 4 × 4 matrixes for the first posture information.Then industrial computer is according to the first posture information meter
Calculate the first motor the first torque to be output.
Specifically, industrial computer 30 needs, according to robot positive kinematics theory, livewire work master machine to be established using D-H methods
The coordinate system of people 10 and the kinematical equation for deriving robot.So as to obtain the conversion square of connecting rod between the armshaft of main robot 10 first
Battle array (transition matrix i.e. described above), by the connecting rod transformation matrix of gained, the right side multiplies successively, and then obtains the base of main robot 10
Total transformation matrix between mark system and the first armshaft end effector coordinate system.This actual total transformation matrix is exactly first
Appearance.Using differential transform method, total transformation matrix is handled, solves the Jacobian matrix J of main robot 10.Based on void
The formula that work(principle is derivedCalculate the first torque that the first motor 50 needs to export.Wherein, F represents first
The stress F of armshaft end effector,Represent two connecting rods between driving force, F andIt is the value obtained in advance.
Industrial computer 30, can be by the first torque transmitting to first after the first motor 50 first torque to be output is got
Motor driver 40, then the first motor 50 is driven to rotate using the first motor driver 40.
It should be noted that for actually, final acquired the first torque to be output of industrial computer 30 be equally with
What voltage form embodied.In other words, after the internal calculation of industrial computer 30 goes out the first motor torque to be output, magnitude of voltage can be converted into
Then export.Then industrial computer 30 is applied this voltage on motor driver 40, and the motor 50 of motor driver 40 rotates.
And the first torque caused by the rotary course of motor 50, it can just be put down with the gravity during armshaft work of main robot 10
Weighing apparatus.Certainly, motor 50 described herein, motor driver 40 and potentiometer 20 etc. are one-to-one relationships, are positions
In on the same armshaft of main robot 10, and what is gathered is corresponding parameter information when being moved with the armshaft.
The robot control system provided by the present embodiment, according to the positional information of armshaft, it is to be output to calculate motor
Torque, the torque is then input to motor driver, so as to motor driver motor operate.So as to overcome gravity,
Realize gravitational equilibrium.
Optionally, the embodiment of the present invention additionally provides another robot control system, specific as shown in Fig. 2 control system
System processing is included in an embodiment outside all parts, in addition at least one analog quantity acquiring device 60, all potentiometers 20
It is connected by least one analog quantity acquiring device 60 with industrial computer 30；At least one analog quantity acquiring device 60 is used for potentiometer 20
The positional information of 10 each armshaft of main robot of collection is pre-processed；And pretreated positional information is sent to industry control
Machine 30.
Specifically, when industrial computer 30 is unable to the data of the collection of Direct Recognition potentiometer 20, at least one can be passed through in advance
Individual analog quantity acquiring device 60 is pre-processed the data message that potentiometer 20 gathers, and then sends out pretreated positional information
Industrial computer 30 is delivered to, so that industrial computer 30 can identify.For example, if industrial computer 30 can not Direct Recognition analog voltage letter
Number, it is necessary to be converted into its data signal that can be identified.So, analog quantity acquiring device 60 in advance can then believe analog voltage
Number be converted to the data signal that industrial computer 30 can identify.Wherein, in the present embodiment, analog quantity acquiring device 60 can be CAN
Interface analog quantity acquiring device.Corresponding, industrial computer 30 can also include a CAN interface.It can also include in the system
PCI-CAN address cards and CAN universal serial bus.Industrial computer 30 is built by internal CAN interface, and PCI-CAN address cards
Vertical connection, PCI-CAN address cards are established by CAN universal serial bus and CAN interface analog quantity acquiring device and connected.
Optionally, the control system can also include at least one analog output device 70, and industrial computer 30 passes through at least one
Individual analog output device 70 is connected with all motor drivers 40.
First analog output device 70 is used for the first motor 50 for being calculated to industrial computer 30 first torque to be output and entered
Row pretreatment；
And by pretreated first torque transmitting to the first motor driver 40, wherein the first analog output device 70 is
Any one analog output device 70 at least one analog output device 70.
Specifically, it is corresponding with analog quantity acquiring device 60, when the first motor that industrial computer 30 is calculated is to be output
First torque is data signal, and when itself can not be converted into analog signal, because numeral directly can not be driven by motor
Dynamic device 40 identifies, so needing to be changed data signal corresponding to the first motor the first torque to be output, is converted
For analog signal.And analog output device 70 then plays the effect.Corresponding with analog input device, analog output device 70 can
When thinking CAN interface analog output device, industrial computer 30 needs also exist for the CAN interface by inside, and PCI-CAN communications
Card establishes connection, and PCI-CAN address cards are established by CAN universal serial bus and CAN interface analog output device and connected.
Certainly, only in this embodiment, enumerate an instantiation and illustrate analog quantity acquiring device and analog output device
Specifically what.Other analog quantity acquiring devices that can be functioned as described above and analog output device, or with etc. same-action
Miscellaneous part can apply in present specification, do not limit here.
It is further preferred that the system can also include：Move collaborative controller 80 and from robot 90.
Industrial computer 30 is connected with motion collaborative controller 80；Motion collaborative controller 80 is connected with from robot 90；
Industrial computer 30 is additionally operable to positional information being forwarded to motion collaborative controller 80；
Move collaborative controller 80 to be used to be rotated from the first armshaft of robot 90 according to positional information control, wherein slave
The first armshaft of device people 90 corresponds with the first armshaft of main robot 10.
Since specifically, being to realize powered work high above the ground, necessarily need main robot 10 and cooperate with from robot 90 to make
Industry.Period, then need to run collaborative controller according to the positional information of main robot 10, control and worked from robot 90.Therefore,
The first position letter of the first potentiometer 20 collection 10 first armshafts of main robot installed on the first armshaft of main robot 10
Breath, and by after first position information transfer to industrial computer 30, by industrial computer 30 by the first position information transfer of the first armshaft extremely
Collaborative controller 80 is moved, motion collaborative controller 80 then controls the position from robot 90 according to the armshaft of main robot 10 first
Information, control and operated from armshaft corresponding to robot 90 to same position.Keep principal and subordinate consistent with this.Certainly, here from machine
Each armshaft of people 90 and an armshaft of main robot 10 correspond.For example, No. 1 armshaft of main robot 10 moves to
A certain position, then motion collaborative controller 80 is controlled from robot then according to the positional information of main robot 10 No. 1 armshaft
90 No. 1 armshaft moves to same position.No. 2 armshafts of main robot 10 move to a certain position, then motion Cooperation controlling
Device 80 then according to the positional information of main robot 10 No. 2 armshafts, controls from No. 2 armshafts of robot 90 and moves to identical bits
Put.15ms time is needed only to during this, it is possible to complete the circulation of a set of instruction.Wherein, industrial computer 30 and motion cooperate
It can be established and connected by Ethernet between controller 80.Certainly, an Ethernet interface is also included inside industrial computer 30.
It is further alternative, it can also include in the system：Multiple torque sensors 95.From each armshaft of robot 90
On fix a torque sensor 95；First torque sensor 95 is used to gather to be exported when being rotated from the first armshaft of robot 90
The second torque；And the second torque is forwarded to industrial computer 30 by moving collaborative controller 80；Industrial computer 30 is used for second
Torque zooms in and out according to preset ratio, obtains the 3rd torque；And by the 3rd torque transmitting to the first motor driver 40；
First motor driver 40 is used to be rotated according to the 3rd torque, the first motor 50 of driving.
Specifically, from each armshaft of robot 90, a torque sensor 95 is respectively mounted, it is corresponding to be mainly used for collection
Caused torque during operation on armshaft.Certainly, the form that the torque of the actual acquisition of torque sensor 95 is showed equally is
Electric signal, e.g. voltage.Then the electric signal is converted into the number that Ethernet can transmit by moving collaborative controller 80
Word signal, transmitted by Ethernet to industrial computer 30.Industrial computer 30 is then entered the data signal by CAN analog outputs device 70
After row pretreatment, output voltage values, and magnitude of voltage is zoomed in and out according to preset ratio, obtain the 3rd torque；Then by the 3rd
Torque is loaded onto on motor driver 40, is operated by the motor 50 of motor driver 40.Certainly, the second power mentioned here
Square and the 3rd torque etc., equally it is to represent in the form of voltage.That is, a torque corresponds to certain magnitude of voltage.When motor 50 operates
When, operator can experience the effect of power.And this power from the power required in work high above the ground of robot 90 with having one
Fixed proportionate relationship.Its purpose is exactly to realize from force feedback during 90 work high above the ground of robot to the armshaft of main robot 10,
Operator can be allowed easily to experience force feedback.
A kind of robot control system provided in an embodiment of the present invention, is gathered potentiometer by analog quantity acquiring device
The positional information of the armshaft of robot first is converted to the data that industrial computer can identify.First motor is gone out according to positional information calculation
First torque to be output.Then the first torque is again passed by after analog output device pre-processed, is converted into magnitude of voltage
Input is to motor driver, so that controlled motor drives, so as to realize the gravitational equilibrium of the armshaft of main robot first.Utilize torque
Sensor gathers the second torque from the armshaft of robot first, then enters the second torque transmitting to industrial computer, industrial computer to it
After the processing of row scaling, pre-processed by analog output device, be then input to motor driver, controlled motor driving.With
A certain proportion of force feedback is realized, lifts Consumer's Experience.
It should be noted that in the above two embodiments, the armshaft number of main robot 10 is more than or equal to 6, from
The number of the armshaft of robot 90 is identical with the armshaft number of main robot 10.Employed in this implementation is 6DOF
The armshaft number of robot, i.e. robot is 6, and the number of corresponding potentiometer 20 is 6, motor 50 and motor driver
40 number is similarly 6.Motor driver 40 is DC motor driver, and motor 50 is permanent-magnetic DC planetary gear motor.
Analog quantity acquiring device 60 is CAN interface analog quantity acquiring device, and the analog quantity acquiring device 60 is 16 tunnels, thus in the application only with
One CAN interface analog quantity acquiring device can both connect 6 potentiometers 20.CAN interface analog output device is 4 tunnels, so at this
Two CAN interface analog output devices are needed in embodiment.
In addition, it is 220V that robot control system, which can also include input, the 100W power supplys for+5V are exported, for for 6
Potentiometer 20 is powered.Input as 220V, the 350W power supplys for+24V are exported, for being connect for permanent-magnetic DC planetary gear motor, CAN
Mouth mold analog quantity follower, CAN interface analog quantity acquiring device and motor driver etc. are powered.From robot and motion Cooperation controlling
Device then is completed to power by other power supplys.Robot control system can also include a display screen, for showing from robot
Positional information.Wherein, can be obtained from the positional information of robot by absolute value encoder, then by motion cooperation control
Device processed is transmitted to industrial computer.Industrial computer is converted into data signal, is shown by display screen.
Fig. 3 is a kind of robot control method schematic flow sheet provided in an embodiment of the present invention.As shown in figure 3, this method
Including：
Step 310, the first position information of the first armshaft of main robot is gathered.
Step 320, according to first position information, the first motor the first torque to be output is calculated.
Step 330, the first motor is driven to rotate according to the first torque.
Optionally, after step 310, this method can also include：Step 315, to each armshaft of main robot
Positional information is pre-processed.
Optionally, after step 320, this method can also include：Step 325, the first torque is pre-processed.
The method and step that step 310 to step 330 is introduced, mainly it is accomplished that the gravitational equilibrium of main robot.
By above method step, the first potentiometer installed on the first armshaft of main robot gathers on the armshaft
One positional information.Then calculated according to the first position information on the armshaft to be output with the motor installed on this armshaft
First torque.Then rotated according to the motor on the first Torque Control armshaft, the gravitational equilibrium of the armshaft is overcome with this.
And this method can also include step 340- steps 370, for feed back from robot manipulating task when power used, so as to
User can experience from robot manipulating task when power used.The scheme that step 340- steps 370 are formed, really with step
The parallel scheme of rapid 310 schemes realized to step 330.In other words, the order performed by step 340 to step 370, no
Limited by step 310-330.For convenience of description, in figure 3, by step 340 to step 370 as after step 330.
Step 340, controlled from the first armshaft of robot and rotated according to first position information.
By the first position information of the first armshaft of main robot, after corresponding processing, transmit to motion cooperation control
Device processed, controlled using collaborative controller is moved from robot manipulating task.Now, it can ensure that principal and subordinate's robot motion is consistent, thus
Master-slave telecontrol is realized, realizes altitude hot-line operation.
Optionally, step 350 can also be included, gathered from the second torque exported during the first armshaft rotation of robot.
Step 360, the second torque is zoomed in and out according to preset ratio, obtains the 3rd torque.
Specifically, from machine man-hour, used power may be very big.And in order to allow customer experience to from machine
Power used in man-hour.It is possible in main robot side, suitably power is zoomed in and out according to a certain percentage.Allowing use
While family is experienced, it is unlikely to cause body burden to user.
Step 370, rotated according to the 3rd torque, the first motor of driving.
The second torque exported when being rotated by the collection of the first torque sensor from robot armshaft, then by the second torque
Send to industrial computer.After industrial computer scales according to a certain percentage, motor driver is forwarded to, and utilize motor driver driving master
First motor of the armshaft of robot first rotates.So as to realize a certain proportion of force feedback.Allow users to easily experience
The power exported from machine man-hour.
The specific implementation step of robot control method provided in an embodiment of the present invention, with two embodiments before
It is discussed in detail in middle robot control system, will not be described in great detail in the present embodiment.
Reader should be understood that in the description of this specification, reference term " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. mean to combine the specific features of the embodiment or example description, structure,
Material or feature are contained at least one embodiment or example of the present invention.In this manual, above-mentioned term is shown
The statement of meaning property need not be directed to identical embodiment or example.Moreover, specific features, structure, material or the feature of description
It can be combined in an appropriate manner in any one or more embodiments or example.In addition, in the case of not conflicting, this
The technical staff in field can be by the different embodiments or example described in this specification and the spy of different embodiments or example
Sign is combined and combined.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (10)
1. a kind of robot control system, it is characterised in that the system includes：Main robot, multiple potentiometers, industrial computer,
Multiple motor drivers and multiple motors；
Fix a potentiometer and a motor on each armshaft of the main robot, all potentiometers with the work
Control machine connects；The industrial computer is connected with the multiple motor driver, a motor driver and a motor connection；
First potentiometer is used for the first position information for gathering the first armshaft of the main robot, and the first position is believed
Breath is sent to the industrial computer；
The industrial computer calculates the first motor the first torque to be output, by first power according to the first position information
Square is transmitted to the first motor driver；
First motor driver drives first motor to rotate according to first torque, wherein, first armshaft
For any one in the armshaft of the main robot, and first potentiometer, first motor and first electricity
Machine driver is respectively positioned on the first armshaft of the main robot.
2. system according to claim 1, it is characterised in that the system also includes：At least one analog quantity acquiring device,
All potentiometers are connected by least one analog quantity acquiring device with industrial computer；
At least one analog quantity acquiring device is used for the position of each armshaft of the main robot to potentiometer collection
Information is pre-processed；
And pretreated positional information is sent to the industrial computer.
3. system according to claim 2, it is characterised in that the system also includes：At least one analog output device；
The industrial computer is connected by least one analog output device with all motor drivers；
The first analog output device is used for first motor that is calculated to the industrial computer the first torque to be output
Pre-processed；
And by pretreated first torque transmitting to first motor driver, wherein the first analog output device is
Any one analog output device at least one analog output device.
4. according to the system described in claim any one of 1-3, it is characterised in that the system also includes：Move Cooperation controlling
Device and from robot；
The industrial computer is connected with motion collaborative controller；The motion collaborative controller is connected with from robot；
The industrial computer is additionally operable to the positional information being forwarded to the motion collaborative controller；
The motion collaborative controller is used to rotate from the first armshaft of robot according to first position information control,
The first armshaft of wherein described slave device people corresponds with the first armshaft of the main robot.
5. system according to claim 4, it is characterised in that the system also includes：Multiple torque sensors；
A torque sensor is fixed on each armshaft from robot；
First torque sensor is used to gather the second torque exported when first armshaft from robot rotates；
And second torque is forwarded to the industrial computer by the motion collaborative controller；
The industrial computer is used to zoom in and out second torque according to preset ratio, obtains the 3rd torque；
And by the 3rd torque transmitting to first motor driver；
First motor driver is used to, according to the 3rd torque, drive first motor to rotate.
6. system according to claim 5, it is characterised in that the armshaft number of the main robot is more than or equal to 6；
The number of the armshaft from robot is identical with the armshaft number of the main robot.
7. a kind of robot control method, it is characterised in that methods described is applied to a kind of robot control system, methods described
Including：
Gather the first position information of the first armshaft of the main robot；
According to the first position information, the first motor the first torque to be output is calculated；
First motor is driven to rotate according to first torque.
8. according to the method for claim 7, it is characterised in that the first of the first armshaft of the collection main robot
After positional information, methods described also includes：
The positional information of each armshaft of the main robot is pre-processed.
9. the method according to claim 7 or 8, it is characterised in that methods described also includes：Believed according to the first position
Breath control first armshaft from robot rotates, wherein the of the first armshaft of the slave device people and the main robot
One armshaft corresponds.
10. according to the method for claim 9, it is characterised in that it is described according to positional information control from machine
After the first armshaft of people rotates, methods described also includes：Collection first armshaft from robot exported when rotating the
Two torques；
Second torque is zoomed in and out according to preset ratio, obtains the 3rd torque；According to the 3rd torque, described in driving
First motor rotates.
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