DSSB140 48980001-P DCS distributed control system

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The function of the robot control system is to receive detection signals from sensors, and according to the requirements of the operation task, drive each electric motor in the robotic arm, just like our human activities rely on our own senses, the motion control of the robot cannot do without sensors.
Robots need sensors to detect various states. The internal sensor signals of the robot are used to reflect the actual motion status of the robotic arm joints, while the external sensor signals of the robot are used to detect changes in the working environment.
So the combination of the robot's nerves and brain can form a complete robot control system.
What aspects are included in the motion control system of robots?
Execution mechanism - servo motor or stepper motor;
Drive mechanism - servo or stepper drive;
Control mechanism - motion controller, algorithmic operation control for path and motor linkage;
If there is a fixed execution method for the control method, then program the fixed parameters for the motion controller; If there is a visual system or other sensors added, based on the sensor signal, a program with fixed parameters cannot be programmed for the motion controller.
Basic functions of robot control system
Control the motion position of the end effector of the robotic arm (i.e., control the points and movement path that the end effector passes through)
Control the motion posture of the robotic arm (i.e. control the relative position of adjacent moving components)
Control the speed of motion (i.e., control the variation of the position of the end effector over time)
Control motion acceleration (i.e. control the speed change of the end effector during motion)
Control the output torque of each power joint in the robotic arm: (i.e. control the force applied to the operating object)
Equipped with user-friendly human-machine interaction function, robots complete specified tasks through memory and reproduction
Enable robots to detect and sense the external environment. Industrial robots are equipped with sensors such as vision, force, and touch to measure and recognize changes in working conditions.

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Hardware structure of industrial robot control system
The controller is the core of the robot system, and foreign companies have implemented strict lockdowns on China. In recent years, with the development of microelectronics technology, the performance of microprocessors has become increasingly high, while prices have become cheaper. Currently, 32-bit microprocessors priced at 1-2 US dollars have appeared on the market. High cost-effective microprocessors have brought new development opportunities for robot controllers, making it possible to develop low-cost, high-performance robot controllers. In order to ensure that the system has sufficient computing and storage capabilities, current robot controllers are mostly composed of ARM series, DSP series, POWERPC series, Intel series and other chips with strong computing power.
In addition, due to the fact that existing general-purpose chips cannot fully meet the requirements of certain robot systems in terms of price, performance, integration, and interface, this has led to a demand for SoC (System on Chip) technology in robot systems. Integrating specific processors with the required interfaces can simplify the design of system peripheral circuits, reduce system size, and lower costs. For example, Actel integrated NEOS or ARM7 processor cores into its FPGA products, forming a complete SoC system. In terms of robot motion controllers, research has mainly focused on the United States and Japan, and there are mature products such as DELTATAU in the United States and Pengli Co., Ltd. in Japan. Its motion controller is based on DSP technology and adopts an open architecture based on PC.
2. Architecture of Industrial Robot Control System
In terms of controller architecture, its research focus is on the standardization of functional division and information exchange between functions. In the research of open controller architecture, there are two basic structures. One is based on hardware hierarchical division, which is relatively simple. In Japan, the architecture is divided based on hardware. For example, Mitsubishi Heavy Industries has divided the structure of its PA210 portable universal intelligent arm robot into five layers; Another type is based on functional partitioning, which considers both software and hardware, and is the direction of research and development in robot controller architecture.