Composition of industrial robot control system
Control computer: the scheduling and command organization of the control system. Generally microcomputer, microprocessor 32-bit, 64-bit, such as Pentium series CPU and other types of CPU.
Teaching box: teaching robot trajectory and parameter settings, as well as all human-computer interaction operations, with its own independent CPU and storage unit, and the main computer to serial communication to achieve information interaction.
Operation panel: It consists of various operation buttons and status indicator lamps, and only accomplishes the basic function operation.
Hard disk and floppy disk storage: the peripheral memory for storing the working program of the robot.
Digital and analog input and output: input or output of various status and control commands.
Printer interface: records various information that needs to be output.
Sensor interface: used for automatic detection of information to realize the robot flexibility control, generally for force, touch and vision sensors.
Axis controller: to complete the robot joints position, speed and acceleration control.
Auxiliary equipment control: used to cooperate with the robot and auxiliary equipment control, such as hand claw positioner.
Communication interface: to realize the information exchange between the robot and other devices, generally serial interface, parallel interface, and so on.
Network interface:
①Ethernet interface: through the Ethernet to achieve several or a single robot direct PC communication, data transfer rate of up to 10Mbit / s, can be directly on the PC with windows library functions for application programming after the support of the TCP / IP communication protocol, through the Ethernet interface will be loaded with data and programs into each robot controller.
②Fieldbus interface: support a variety of popular fieldbus specifications, such as Devicenet, ABRemoteI/O, Interbus-s, profibus-DP, M-NET and so on.
Functions of industrial robot control system
Robot control system is an important part of the robot, used for the control of the operator to complete a specific work task, its basic functions are as follows:
1. Memory function: store the order of operation, movement path, movement mode, movement speed and information related to the production process.
2. Demonstration function: offline programming, online demonstration, indirect demonstration. Online teaching includes two kinds of teaching boxes and guided teaching.
3. Contact function with peripheral equipment: input and output interface, communication interface, network interface, synchronization interface.
4. coordinate setting function: joint, absolute, tool, user-defined four kinds of coordinate system. Man-machine interface: demonstration box, operation panel, display.
5. Sensor interface: position detection, vision, touch, force, etc..
6. position servo function: robot multi-axis linkage, motion control, speed and acceleration control, dynamic compensation, etc..
7. Failure diagnosis and safety protection function: system status monitoring during operation, safety protection under fault condition and fault self-diagnosis.
Industrial robot control system classification
Program control system: to each degree of freedom to impose a certain regularity of the control role, the robot can realize the required spatial trajectory.
Adaptive control system: when the external conditions change, in order to ensure the required quality or in order to improve the quality of control by itself with the accumulation of experience, the process is based on the state of the operator and servo error observation, and then adjust the parameters of the nonlinear model, until the error disappears. The structure and parameters of such a system can change automatically with time and conditions.
Artificial Intelligence System: It is not possible to program the motion in advance, but requires the control role to be determined in real time during the motion process based on the obtained information about the surrounding state.
Motion mode:
Point type: requires the robot to accurately control the position of the end-effector independent of the path;
Trajectory type: requires the robot to move according to the trajectory and speed taught.
Control bus: international standard bus control system. Adopt international standard bus as the control bus of the control system, such as VME, MULTI-bus, STD-bus, PC-bus.
Customized bus control system: The manufacturer defines the bus used by itself as the control system bus.
Programming method: Physical setting programming system. Fixed limit switches are set by the operator to realize the program operation of starting and stopping, which can only be used for simple pick and place operation.
Online programming: through the human demonstration to complete the operation of the process of memorizing information programming methods, including direct demonstration (i.e., hands-on demonstration) simulation demonstration and demonstration box demonstration.
Offline programming: not to the actual operation of the robot direct teaching, but out of the actual operating environment, generating teaching programs, through the use of advanced robotics, programming language, remote offline generation of robot trajectory.