The method for implementing fast control cycle of articulated robot control algorithm considering robot dynamics and system

摘要

The present invention relates to a method and system for implementing a fast control cycle of a dynamic application algorithm for a multi-joint robot. The present invention distributes an algorithm considering the overall dynamics of a robot and directly applies it to a lower controller that is in charge of each joint. The present invention relates to a method and system for implementing a high-speed control cycle that significantly improves a calculation cycle. An articulated robot according to one aspect of the present invention may include a plurality of joints coupled to each other dynamically through a nonlinear relationship; A plurality of sub-controllers provided at each of the plurality of joints to control driving of the articulated robot; And an upper controller configured to control operations of the plurality of lower controllers, wherein each of the plurality of lower controllers includes a control input in a preset equation to control driving of the articulated robot associated with the placed joint. And a control algorithm that takes into account the overall dynamics of the articulated robot without communication with the upper controller by arithmetic operation of each of the plurality of lower controllers, whereby the period for updating the control input is determined by It may be faster than the communication period between the controller and the upper controller.