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DISTRIBUTIVE CONTROL DEVICE AND DISTRIBUTIVE CONTROL METHOD OF MODULAR ARM OF ROBOT
DISTRIBUTIVE CONTROL DEVICE AND DISTRIBUTIVE CONTROL METHOD OF MODULAR ARM OF ROBOT
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机译：机器人模块化手臂的分布控制装置及分布控制方法
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摘要
Disclosed are a distributive control device and a distributive control method of a modular arm of a robot. The distributive control device of the modular arm of the robot according to the present invention includes multiple driving modules installed on each joint of the modular arm of the robot and driving the corresponding joints and a central control unit controlling each driving module. In addition, each driving module includes an actuator driving the joint; a local controller controlling the actuator in accordance with a control command from the central control unit; an encoder sensing the position of the joint; and a local storing unit storing historical data of the position of the joint. According to the present invention, each joint driving module of the modular arm of the robot has an identical function, selectively executes the command from the controller of the central control unit based on an identity applied according to a mounted position and operates according to a form of a robot arm structure. Accordingly, the robot with the modular arm behaves in a consistent way.;COPYRIGHT KIPO 2015
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