公开(公告)号：EP2105263A2

公开(公告)日：2009-09-30

申请号：EP09464001.8

申请日：2009-03-04

申请人： Institutul de Mecanica Solidelor al Academiei Romane

发明人： Vladareanu, Luige ,  Velea, Lucian Marius ,  Munteanu, Radu Loan ,  Curaj, Adrian ,  Cononovici, Sergiu ,  Sireteanu, Tudor ,  Capitanu, Lucian ,  Munteanu, Mihai Stelian

IPC分类号： B25J9/16

CPC分类号： B25J9/1605 ,  G05B2219/40119 ,  G05B2219/40122 ,  G05B2219/40131 ,  G05B2219/40288

摘要： The method and the device of real time control with robot open architecture are meant to improve the control performance with applications in control systems for nano/micro/macro handlers/robots. The method and the device are comprised of a virtual control interface module (ICV) with the role of achieving the virtual projection of the mechanical structure on the computer graphic terminal (TGC), which has m position and force signals X m P and X m F , a classic mechatronic control system (SCMC) with the role of ensuring the robot's real time control, a number of m charge actuator modules rigidly coupled with the m servo-actuator modules (MS) with the role to ensure the functioning in charge of the servo-actuator modules (MS) and controlled by a charge controller module (MCS), a multi function control interface module (ICMF) which ensures the real time control, the priority control and the management of information exchange between an n number of functions of control interfaces (ICF), connected between them through a field bus (MD), with the role to ensure the implementation of various control methods, making an open architecture system (OAH) in the robot control, a number of n functions of control interfaces (ICF) with the role of allowing the implementation various control methods such as the hybrid force-position control, line tracing functions, the tripod walk of a stepping robot, compliant control, etc. Thus we obtain the design, testing and experimenting control method on a real control system, with online functioning, in the absence of the mechanical structure, through virtual projection, thus allowing the improvement of the performance in the control of robots that already physically exist.

摘要翻译： 使用机器人开放式架构实时控制的方法和设备旨在通过在纳米/微/宏/宏处理器/机器人的控制系统中的应用来提高控制性能。 该方法和装置包括虚拟控制接口模块（ICV），其具有在计算机图形终端（TGC）上实现机械结构的虚拟投影，其具有m个位置和力信号X m P和X m F，一种经典的机电一体化控制系统（SCMC），具有确保机器人实时控制的作用，多个m个执行器模块与m个伺服执行器模块（MS）紧密耦合，起到确保功能的作用 伺服执行器模块（MS）并由充电控制器模块（MCS），多功能控制接口模块（ICMF）进行控制，多功能控制接口模块（ICMF）确保实时控制，优先级控制和管理n个功能之间的信息交换 的控制接口（ICF），通过现场总线（MD）连接在一起，具有确保实现各种控制方法的作用，使机器人控制中的开放式架构系统（OAH），多个nf 控制接口（ICF）的功能具有允许执行诸如混合力位置控制，线路跟踪功能，步进机器人的三脚架行走，兼容控制等各种控制方法的作用。因此，我们获得了设计，测试 并通过虚拟投影，在没有机械结构的情况下通过在线功能实现在实际控制系统上的实验控制方法，从而提高了已经实际存在的机器人的控制性能。

公开(公告)号：EP2105263A3

公开(公告)日：2010-10-13

申请号：EP09464001.8

申请日：2009-03-04

申请人： Institutul de Mecanica Solidelor al Academiei Romane

发明人： Vladareanu, Luige ,  Velea, Lucian Marius ,  Munteanu, Radu Loan ,  Curaj, Adrian ,  Cononovici, Sergiu ,  Sireteanu, Tudor ,  Capitanu, Lucian ,  Munteanu, Mihai Stelian

IPC分类号： B25J9/16

CPC分类号： B25J9/1605 ,  G05B2219/40119 ,  G05B2219/40122 ,  G05B2219/40131 ,  G05B2219/40288

摘要： The method and the device of real time control with robot open architecture are meant to improve the control performance with applications in control systems for nano/micro/macro handlers/robots. The method and the device are comprised of a virtual control interface module (ICV) with the role of achieving the virtual projection of the mechanical structure on the computer graphic terminal (TGC), which has m position and force signals X m P and X m F , a classic mechatronic control system (SCMC) with the role of ensuring the robot's real time control, a number of m charge actuator modules rigidly coupled with the m servo-actuator modules (MS) with the role to ensure the functioning in charge of the servo-actuator modules (MS) and controlled by a charge controller module (MCS), a multi function control interface module (ICMF) which ensures the real time control, the priority control and the management of information exchange between an n number of functions of control interfaces (ICF), connected between them through a field bus (MD), with the role to ensure the implementation of various control methods, making an open architecture system (OAH) in the robot control, a number of n functions of control interfaces (ICF) with the role of allowing the implementation various control methods such as the hybrid force-position control, line tracing functions, the tripod walk of a stepping robot, compliant control, etc. Thus we obtain the design, testing and experimenting control method on a real control system, with online functioning, in the absence of the mechanical structure, through virtual projection, thus allowing the improvement of the performance in the control of robots that already physically exist.