Research of Universal Modular Cooperation Robot Control System

摘要

Collaboration robot is better in human-robot interaction and collaboration ability than traditional industrial robots. The feature of collaborative robot is that it relies on the information acquisition and calculation capabilities of the robot control system and has obvious common requirements. First this article analyzes the common requirements of cooperative robot to the control system from the functional point of view, and puts forward the design framework of cooperative robot control system based on the four-layer architecture mechanism, namely hardware abstract layer, motion control layer, robotics algorithm layer and intelligent interaction layer, then the article build a universal, modular collaborative robot control system based on real-time Ethernet, and analyzes EtherCAT distributed motion control system and robot control system structure in detail. Finally, this article Designs experiments for testing real-time performance, motion performance and joint current processing capacity based on the self-developed 6 degrees of freedom collaboration robot to verify that the correction of the design.