Real time control method and device for robots in virtual projection

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.