SIA OpenIR  > 工业控制网络与系统研究室
用于复杂CPS的机器人柔性控制器及其实现方法
Alternative TitleRobot flexible controller for complex CPS (Cyber Physical System) and implementation method thereof
李庆鑫; 张华良; 曾鹏; 于海斌
Department工业控制网络与系统研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract

本发明涉及了一种用于复杂CPS的机器人柔性控制器及其实现方法,属于智能制造控制领域。本发明的控制器包括机器人模型模块,控制算法模块,传感器模块,观测器模块和动态连接模块。方法包括:任务描述与解析;由动态连接模块描述机器人模型模块、控制算法模块、传感器模块之间的连接规则,并根据需求定义性能指标;动态连接模块根据自定义规则生成动态连接表,通过仿真对比,在控制算法模块中选取符合性能指标的控制算法;生成可执行的实时仿真代码,下载到控制机中并实时运行。本发明的控制器不针对某一个别型号的机器人,其标准化、模块化的设计理念适用于多种机型的机器人控制应用。

Other Abstract

The invention relates to a robot flexible controller for a complex CPS (Cyber Physical System) and implementation method thereof, and belongs to the technical field of intelligent manufacture and control. The controller comprises a robot model module, a control algorithm module, a sensor module, an observer module and a dynamic connection module. The method comprises the steps of describing and analyzing a task; describing, by the dynamic connection module, a connection rule among the robot model module, the control algorithm module and the sensor module, and defining a performance index according to needs; generating, by the dynamic connection module, a dynamic connection table according to a customized rule, and selecting a control algorithm in accordance with the performance index in the control algorithm module by simulation comparison; generating an executable real-time simulation code, downloading the executable real-time simulation code to the controller and performing real-time operation. The controller does not aim at individual models of robots, and is suitable for controlling multiple models of robots due to the standard and modular design idea.

PCT Attributes
Application Date2014-12-29
2016-07-27
Date Available2018-09-21
Application NumberCN201410836884.4
Open (Notice) NumberCN105807628A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/19111
Collection工业控制网络与系统研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
李庆鑫,张华良,曾鹏,等. 用于复杂CPS的机器人柔性控制器及其实现方法[P]. 2016-07-27.
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