What are the typical components of a control system?
For most control system designs, it generally consists of four parts: input, output, control elements, and algorithm. In a simple robot system, the corresponding elements are:
1. Input: Sensors, including sonar, infrared, camera, gyroscope, accelerometer, compass, etc.;
2. Output: Control element, usually a motor;
3. Control algorithm: The control board is implemented from microcontrollers to microcomputers;
4. Control objectives: such as robot path tracking.
What is a robot's control system?
The function of a robot control system is to receive detection signals from sensors and drive the various motors in the robotic arm according to the requirements of the operational task. Just as human movement relies on our joints, robot motion control is inseparable from sensors. Robots need sensors to detect various states. Internal sensor signals are used to reflect the actual movement state of the robotic arm joints, while external sensor signals are used to detect changes in the working environment. Therefore, the robot's neural network and brain work together to form a complete robot control system.
What aspects are included in the motion control system of a robot?
Actuator – servo motor or stepper motor;
Drive mechanism ---- servo or stepper driver;
Control mechanism – motion controller , which performs algorithmic calculations and controls the path and motor linkage;
Control method: If there is a fixed action mode, then program the motion controller with fixed parameters; if a vision system or other sensors are added, program the motion controller with variable parameters based on the sensor signals.
Introduction to Industrial Robot Control Systems
1. Hardware Structure of Industrial Robot Control System
The controller is the core of a robot system. Foreign companies have imposed strict technological blockades on my country, restricting domestic technological development. However, in recent years, with the advancement of microelectronics technology, microprocessors have become increasingly powerful yet affordable, with 32-bit microprocessors now available for as low as $1-2. This high cost-performance ratio of microprocessors has brought new development opportunities to robot controllers, making it possible to develop low-cost, high-performance controllers. To ensure sufficient computing and storage capabilities, current robot controllers mostly utilize high-performance chips such as ARM, DSP, POWERPC, and Intel series chips.
2. Industrial Robot Control System Architecture
In terms of controller architecture, the research focus is on functional partitioning and the standardization of information exchange between functions. In the research of open controller architectures, there are two basic structures: one is a hardware-layer-based structure, which is relatively simple. In Japan, the architecture is partitioned based on hardware; for example, Mitsubishi Heavy Industries divides its PA210 portable general-purpose intelligent arm robot into a five-layer structure. The other is a function-based structure, which considers both hardware and software, and is the direction of research and development in robot controller architecture.
Basic functions required for an industrial robot control system
The robot control system is an important component of a robot, used to control the robot to complete specific work tasks. What are its basic functions?
1. Memory function: Stores work sequence, movement path, movement mode, movement speed and information related to production process.
2. Teaching Functions: Offline programming, online teaching, and indirect teaching. Online teaching includes two types: teach pendant and guided teaching.
3. Communication with peripheral devices: Input and output interfaces, communication interface, network interface, synchronization interface.
4. Coordinate setting function: There are four coordinate systems: joint, absolute, tool, and user-defined.
5. Human-machine interface: teach pendant, operation panel, display screen.
6. Sensor interfaces: position detection, vision, touch, force, etc.
7. Position servo function: multi-axis linkage of the robot, motion control , speed and acceleration control, dynamic compensation, etc.
8. Fault diagnosis and safety protection functions: system status monitoring during operation, safety protection under fault conditions, and fault self-diagnosis.
