The robot control system is the brain of the robot and the main factor that determines the function and performance of the robot. The main task of industrial robot control technology is to control the movement position, posture and trajectory, operation sequence and action time of the industrial robot in the work space. It has the characteristics of simple programming, software menu operation, friendly human-computer interaction interface, online operation prompts and convenient use.
Key technologies include:
(1) Open and modular control system architecture: adopts distributed CPU computer structure, divided into robot controller (RC), motion controller (MC), photoelectric isolation I/O control board, sensor processing board and programming display Teaching box and so on. The robot controller (RC) and the programming teaching box communicate through the serial port/CAN bus. The main computer of the robot controller (RC) completes the robot's motion planning, interpolation and position servo, main control logic, digital I/O, sensor processing and other functions, while the programming teaching box completes the display of information and the input of keys.
(2) Modular and hierarchical controller software system: The software system is built on the open source-based real-time multitasking operating system Linux, and adopts hierarchical and modular structure design to realize the openness of the software system. The entire controller software system is divided into three levels: hardware driver layer, core layer and application layer. The three levels face different functional requirements and correspond to different levels of development. Each level in the system is composed of several modules with opposite functions. These functional modules cooperate with each other to realize the functions provided by the level.
(3) Robot fault diagnosis and safety maintenance technology: Diagnosing robot faults through various information and performing corresponding maintenance are the key technologies to ensure robot safety.
(4) Networked robot controller technology: At present, the application engineering of robots has developed from a single robot workstation to a robot production line, and the networking technology of robot controllers has become more and more important. The controller has the networking functions of serial port, field bus and Ethernet. It can be used for communication between robot controllers and the robot controller and the host computer, which is convenient for monitoring, diagnosis and management of the robot production line.