MULTI-DEGREE OF FREEDOM CONTROL SYSTEM AND METHOD FOR MULTI-JOINT DRIVING, EMPLOYING MULTI-DROP FAST COMMUNICATION BETWEEN A COMMUNICATION MODULE AND AN UPPER CONTROLLER

摘要

PURPOSE: A multi-degree of freedom control system and method for multi-joint driving is provided to control the position, speed, and power of multiple axes of a robot arm with a single controller by individually driving motors connected to respective axes of multiple joints.;CONSTITUTION: A multi-degree of freedom control system for multi-joint driving comprises a communication module(201), a multi-joint main control unit(202), and a plurality of servo AMP(Amplifiers,203). The communication module receives a control command through an interface of an upper controller according to a predetermined communication protocol set for each axis of the multiple joints. The multi-joint main control unit analyzes the control command and generates a control signal for controlling the position, speed, and power of each axis of the multiple joints according to the analysis result. The plurality of servo AMP individually drives motors according to the control signal.;COPYRIGHT KIPO 2013;[Reference numerals] (201) EtherCAT/CAN communication module; (203) 1-3 AXIS servo AMP; (AA) Control command analyzing unit; (BB) Servo control unit(position, speed, and power control of three motors; (CC) Multi-joint main control unit