Motion controller plays a key role in the control center of mobile robot, which realizes the precise position control, speed control and force/moment control of the actuator. With the continuous progress of technology, the hardware and software of motion controller are more and more closely combined, from MCU, PLC to IPC and other forms of motion controller appear, providing a variety of options for the development of mobile robots.
1. Motion controller based on MCU
The motion controller based on microcontrol unit (MCU) adopts single-chip technology, integrates the processor, memory, interface and other functions on a chip, and has the characteristics of independent operation and universal interface. The McU-based controller has the advantages of good running performance and low cost, which is suitable for some occasions with high cost requirements and relatively simple functions.
However, McU-based controllers have certain limitations in complex data processing and multi-axis linkage, and are not suitable for applications requiring complex algorithms and advanced motion trajectories.
2. Motion controller based on PLC
A programmable logic controller (PLC) is a control system designed for industrial applications that uses programmable memory to store instructions for logic operations, sequence control, timing, counting and arithmetic operations. PLC based controller has the advantages of easy programming, high reliability, strong adaptability to the environment, etc., and is widely used in various mechanical equipment and production process control.
However, PLC-based controllers have limitations in complex data processing and algorithm deployment, and cannot meet some applications that require high data processing power and motion trajectory.
3. Motion controller based on IPC
Industrial control computers (IPC) are computer systems designed to monitor and control equipment, processes, and parameters. IPC based motion controller is the mainstream application of mobile robot control system at present, it provides strong dynamic control algorithm and complex trajectory planning ability with the help of computer platform.
IPC based controller has the characteristics of low development cost, good system compatibility, strong reliability, and obvious advantages in computing power, which is suitable for the application scenarios requiring high performance and stability.
Fourth, the upper computer + the lower computer motion control mode
In addition to the single-layer control architecture, the two-layer control architecture of the upper computer + the lower computer is also widely adopted. The upper computer usually uses the industrial computer, and the lower computer uses the embedded motion control board based on MCU. The communication between the upper and lower computers is realized by means of serial port, USB, UDP/TCP, etc. This control method takes into account the advantages of MCU real-time and IPC high computing power, and can cope with complex data processing and algorithm deployment requirements.
To sum up, motion controllers play a crucial role in mobile robots. Whether based on MCU, PLC or IPC controller, each has its own advantages and scope of application. As technology continues to advance, motion controllers will become more and more powerful to meet the needs of more complex applications.
Post time: Jul-15-2023
