A general-purpose microprocessor is used to form a parallel processing structure, which supports calculation and realizes online real-time calculation of complex control strategies. Such as the system designed in the literature [10,11]. 3 Problems with the robot controller With the rapid development of modern science and technology and the advancement of society, higher requirements are placed on the performance of robots. The research of intelligent robot technology has become the main development direction of the robot field, such as various precision assembly robots, force/position hybrid control robots, multi-limb coordinated control systems, and robots in advanced manufacturing systems. Correspondingly, higher requirements are placed on the performance of the robot controller. However, since the birth of the robot, especially the controllers used in industrial robots are basically developed by developers based on their own independent structure, using a dedicated computer, a dedicated robot language, a dedicated operating system, a dedicated microprocessor. Such robot controllers have been unable to meet the requirements of modern industrial development. From the two types of robot controllers mentioned above, the serial processing structure controller has a closed structure, a single function, and poor computing power, which is difficult to guarantee the requirements of real-time control. Therefore, most commercial robots currently use single-axis. PID control is difficult to meet the requirements of high speed and high precision of robot control. Although the distributed architecture is open at a certain level, more processors can be added as needed to meet sensor processing and communication needs, but it is only open to a limited extent. As used in [12], "special purpose computers (such as PUMA robots using PDP-11 as the upper-level master computer), dedicated robotic languages ​​(such as VAL), dedicated microprocessors and fixing control algorithms in EPROM" The structure limits its scalability and flexibility, so its structure is closed. Although the parallel processing structure controller can make a big breakthrough in the calculation speed, it can guarantee the need of real-time control, but we must see that there are still many problems. The current parallel processing controller research generally focuses on the parallel processing of robot kinematics and dynamics models. It is designed based on the parallel algorithm and the mapping characteristics of multi-processor structure, that is, by decomposing a given task, several sub-tasks are listed. The data related flow graph realizes parallel processing of each subtask on the corresponding processor. Due to the inherent characteristics of communication, synchronization, etc. in parallel algorithms, such as improper programming, it is prone to lock-up and communication congestion. Taken together, there are many problems with existing robot controllers, such as: (1) poor openness It is limited to the closed structure of "dedicated computer, dedicated robot language, special microprocessor". The closed controller structure makes it specific to the specific environment and makes it difficult to extend and improve the system. (2) Poor software independence The software structure and its logical structure depend on the processor hardware and are difficult to port between different systems. (3) Poor fault tolerance Due to the intrinsic characteristics of data correlation, communication and synchronization in parallel computing, the fault tolerance of the controller is degraded, and one of the processors may cause the whole system to be paralyzed. (4) Poor scalability At present, the research of robot controllers focuses on improving and improving the performance of the system from the joint level. Due to the closed nature of the structure, it is difficult to expand the system as needed, such as adding functional modules such as sensor control. Previous Next Horizontal Deep Hole Drilling Machine Horizontal Deep Hole Drilling Machine,Deep Hole Drill,Cnc Deep Hole Drilling Machine,Deep Hole Drilling Machine Shandong EN FIN CNC Machinery Co., Ltd , https://www.sdfincncmachinery.com
(3) Using a general-purpose microprocessor