Background,Arduino Micro-controller:
With the development of automatic control theory, the needs of industrial production and the progress of related technologies, the development of robots has experienced three generations:
(1) Programmable teaching reproduction robot;
(2) Robot with certain autonomous ability based on sensor control;
(3) Intelligent robot.
As the core part of robot, robot controller is one of the key parts that affect the performance of robot. It affects the development of robot to a certain extent. At present, due to the great progress of artificial intelligence, computer science, sensor technology and other related disciplines, the research of robot is carried out at a high level, and higher requirements are put forward for the performance of robot controller. For different types of robots, such as legged walking robot and articulated industrial robot, the comprehensive methods of control system are quite different, The design scheme of the controller is also different.
It is just around the corner that China will become the world's largest industrial robot application market. Unfortunately, China's industrial robot industry has developed relatively late. Affected by relevant technologies, processing technology and other factors, industrial robots in the Chinese market are basically occupied by foreign robot brands dominated by ABB, KUKA, FANUC and Yaskawa, Domestic robot brands account for only about 8% of the market share. As one of the most core components of industrial robots, controllers will benefit from the rapid growth of industrial robots, but the controller market, as a key core component, is also occupied by foreign enterprises.
New robot controller:
The new robot controller shall have the following features:
(1) The open system structure adopts open software and hardware structure, which can easily expand the functions according to the needs, making it suitable for different types of robots or robotic automatic production lines.
(2) Reasonable modular design for hardware, according to system requirements and electrical characteristics, according to modular design, which not only facilitates installation and maintenance, but also improves the reliability of the system, and the system structure is more compact.
(3) Effective task division different subtasks are implemented by different functional modules to facilitate modification, addition and configuration of functions.
(4) For real-time, the robot controller must be able to complete the processing of external interrupts within a certain time, and can make multiple tasks carry out at the same time.
(5) Network communication function uses the function of network communication to facilitate resource sharing or cooperative work of multiple robots.
(6) Visual man-machine interface.
Outlook:
With the development of robot control technology, aiming at the defects of closed robot controller, developing "modular and standardized robot controller with open structure" is a development direction of robot controller. In recent years, Japan, the United States and some European countries are developing robot controllers with open structure, such as the robot controller with open structure and network function developed by Yaskawa company of Japan based on PC. the intelligent robot theme of China's 863 program has also established a research project in this regard.
Open structure robot controller means that all levels of controller design are open to users, and users can easily expand and improve its performance. Its main idea is:
(1) The development system based on non closed computer platform is used to effectively use the software and hardware resources of standard computer platform to create conditions for controller expansion.
(2) Using the standard operating system, using the standard operating system and control language, we can change the situation that various special robot languages coexist and are incompatible with each other.
(3) With the standard bus structure, the hardware necessary to expand the performance of the controller, such as various sensors, I / O boards and motion control boards, can be easily integrated into the original system.
(4) Use network communication to realize resource sharing or remote communication At present, almost all controllers have no network function. The flexibility of system change can be improved by using the network communication function. We can design the robot controller with open structure according to the above idea, and the design process should be modular as much as possible. Modularization is a modern method of system design and establishment. According to the modular method, the system is composed of multiple functional modules, and each module is complete and single. The system established in this way not only has good performance, short development cycle, but also has low cost Modularity also makes the system open and easy to modify, reconstruct and add configuration functions.
