EP2946253A4 - Bewegungssteuerung und robotersteuerungssystem damit - Google Patents

Bewegungssteuerung und robotersteuerungssystem damit

Info

Publication number
EP2946253A4
EP2946253A4 EP13871913.3A EP13871913A EP2946253A4 EP 2946253 A4 EP2946253 A4 EP 2946253A4 EP 13871913 A EP13871913 A EP 13871913A EP 2946253 A4 EP2946253 A4 EP 2946253A4
Authority
EP
European Patent Office
Prior art keywords
controller
control system
robot control
enforcement
execution
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13871913.3A
Other languages
English (en)
French (fr)
Other versions
EP2946253A1 (de
Inventor
Said Zahrai
Feihong Zhang
Yicheng Zhang
Chengping Su
Bojun Ma
Chao Yang
Hui Zhang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Technology AG
Original Assignee
ABB Technology AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Technology AG filed Critical ABB Technology AG
Publication of EP2946253A1 publication Critical patent/EP2946253A1/de
Publication of EP2946253A4 publication Critical patent/EP2946253A4/de
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4148—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33076—Optimize time by parallel execution of independent blocks by two processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33104—Tasks, functions are distributed over different cpu
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33116—Configuration of motion control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34208—Motion controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34287—Plc and motion controller combined
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34403—RTI real time, kernel, processing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40498—Architecture, integration of planner and motion controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
EP13871913.3A 2013-01-17 2013-01-17 Bewegungssteuerung und robotersteuerungssystem damit Withdrawn EP2946253A4 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2013/070581 WO2014110748A1 (en) 2013-01-17 2013-01-17 Motion controller and robot control system using the same

Publications (2)

Publication Number Publication Date
EP2946253A1 EP2946253A1 (de) 2015-11-25
EP2946253A4 true EP2946253A4 (de) 2016-10-12

Family

ID=51208937

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13871913.3A Withdrawn EP2946253A4 (de) 2013-01-17 2013-01-17 Bewegungssteuerung und robotersteuerungssystem damit

Country Status (3)

Country Link
EP (1) EP2946253A4 (de)
CN (1) CN104903800A (de)
WO (1) WO2014110748A1 (de)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106227097B (zh) * 2016-08-25 2018-11-30 常州市翔云智能控制系统有限公司 多总线多轴运动控制器
CN107571241A (zh) * 2017-09-04 2018-01-12 深圳市超时空机器人有限公司 一种双臂机器人及其控制方法
CN107479506B (zh) * 2017-09-04 2020-07-14 深圳市超时空机器人有限公司 一种基于机器人的数控装置、系统及加工方法
CN108052063A (zh) * 2017-12-18 2018-05-18 珠海格力节能环保制冷技术研究中心有限公司 控制系统、控制芯片及机器人
CN109240191B (zh) * 2018-04-25 2020-04-03 实时侠智能控制技术有限公司 集成运动控制和电机控制的控制器和控制系统
WO2019218324A1 (zh) * 2018-05-17 2019-11-21 深圳配天智能技术研究院有限公司 用于机器人的编码器、驱动器、控制器及机器人
CN110340872A (zh) * 2019-07-15 2019-10-18 赵智泉 穿戴式遥控机器人及控制方法
CN111421547A (zh) * 2020-04-13 2020-07-17 深圳市强华科技发展有限公司 一种工业机器人控制系统及其控制方法
CN113067527A (zh) * 2021-03-31 2021-07-02 实时侠智能控制技术有限公司 适于执行电机控制的控制器和控制系统
CN113720595B (zh) * 2021-09-02 2024-06-04 上海桥田智能设备有限公司 一种应用于工具快换装置功能检测系统及方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090132057A1 (en) * 2007-11-20 2009-05-21 Abb Research Ltd. Control system for controlling the movements of a plurality of mechanical units
EP2450157A2 (de) * 2010-11-05 2012-05-09 Canon Kabushiki Kaisha Robotersteuervorrichtung
US20120162235A1 (en) * 2009-08-24 2012-06-28 Abb Technology Ag Execution of real time applications with an automation controller
EP2546029A2 (de) * 2011-07-13 2013-01-16 KUKA Roboter GmbH Steuerung eines Roboter

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5042004A (en) * 1986-03-06 1991-08-20 Advanced Micro Devices, Inc. Programmable logic device with subroutine stack and random access memory
US7327396B2 (en) * 2002-04-10 2008-02-05 National Instruments Corporation Smart camera with a plurality of slots for modular expansion capability through a variety of function modules connected to the smart camera
EP1835699A1 (de) * 2006-03-17 2007-09-19 ABB PATENT GmbH Robotersteuerung
CN101286058B (zh) * 2008-04-24 2010-09-29 上海交通大学 机器人模块化分布式自适应控制系统及方法
WO2010102875A1 (en) * 2009-03-13 2010-09-16 Abb Technology Ag A method for control in a process control system implemented in part by one or more computer implemented run-time processes
DE102010019086A1 (de) * 2010-04-30 2011-11-03 Abb Technology Ag Einrichtung sowie Verfahren zur Übertragung von Messsignalen in räumlich ausgedehnten Versorgungsnetzen
CN102289217B (zh) * 2011-02-25 2012-09-05 广西大学 一种以轴为单位模块化可重构的运动控制系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090132057A1 (en) * 2007-11-20 2009-05-21 Abb Research Ltd. Control system for controlling the movements of a plurality of mechanical units
US20120162235A1 (en) * 2009-08-24 2012-06-28 Abb Technology Ag Execution of real time applications with an automation controller
EP2450157A2 (de) * 2010-11-05 2012-05-09 Canon Kabushiki Kaisha Robotersteuervorrichtung
EP2546029A2 (de) * 2011-07-13 2013-01-16 KUKA Roboter GmbH Steuerung eines Roboter

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2014110748A1 *

Also Published As

Publication number Publication date
CN104903800A (zh) 2015-09-09
WO2014110748A1 (en) 2014-07-24
EP2946253A1 (de) 2015-11-25

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