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First interpretation AtomMotion

Issuer:administrator Pubdate:2020-07-03 Keywords:AtomMotion,Atomrobot

　　
　　Origin-dreams will not be frozen

　　 In recent years, countries around the world have been performing fierce and cruel wars without gunpowder almost every day around the control and anti-control, contention and anti-competition of core technologies. In the context of Industry 4.0, industrial robots are considered an important cornerstone of intelligent manufacturing. However, my country's industrial robot companies are facing the dilemma of fewer patents and lack of core patents, which is a huge contrast with the surging downstream application market.

　　 Due to the long-term lag in core technology, my country's industrial robot industry still has many shortcomings. As a core component, the controller is monopolized by foreign countries. There is a clear gap between my country's core technology and the United States, Japan, Germany and other countries. Therefore, only enterprises with independent core technologies can achieve rapid and stable development. This is a dream of all practitioners in the robotics field and a long-term pursuit.

　　As a technological innovation enterprise, Astro Boy has continuously invested in the research and development of independent control systems since its establishment. We need to make our own controller-AtomMotion.

PART 01-AtomPad

need

Large display,

Maximize display of relevant information about robot operation;

Can guarantee safe key operation.

It is our ideal state

（Atomrobot）

　Everything is under control: 10.1-inch touch screen design maximizes the display of information related to robot operation. The physical emergency stop and enable button design protect the safety of operating engineers to the greatest extent. Lightweight selection of materials provides more considerate care for operation engineers. The operation interface conforms to the actual application scenario, which frees the engineers' hands to the maximum.

PART 02-AtomMotion

need

High-performance processor,

To be real-time, the network port ensures scalability.

It is our ideal state

（AtomMotion）

　　The pure code realization of general PC: Under the X86 architecture, with the help of real-time communication technology, the precise control of the servo motor is completed. Support a variety of parallel robot models, including not only the commonly used parallel 3-axis, parallel 3+1-axis robot models, but also parallel 4-axis, serial-parallel hybrid 5-axis, Stewart and other models.

　　Support S-type, polynomial, sin curve, cos curve and other speed planning types to meet the different needs of engineers in different scenarios. Support single tracking, dual tracking, disc tracking and other tracking exercises in different situations. It supports drag teaching in torque mode and the reproduction of complex trajectory curves.

　　Explore-run down the road

　　 In the field of robotics, my country is in parallel with the world in the "three runs" of following, running side by side and leading the way. Foreign countries still have something to learn from, but domestic robot companies also have their own advantages. In the brewing and advancement of a new round of technological and industrial reforms, it will also provide us with a rare opportunity to "catch up and surpass development".

　　Robot Model

Two new members have been added to the Atom robot family in 2020. As a controller in the Atom family, we have completed the mathematical model support for the D4 and S6 robots.

（Hurricane-D4）

Break through the limitations of the existing configuration and realize the 2+2 axis serial-parallel hybrid connection with high speed and high performance. It has the features of translation along the XYZ axis and rotation around the Z axis. The installation methods are diverse and flexible, occupying a small space, and can be simply deployed in an automated production line.

（S6）

　　The classic STEWART parallel mechanism can easily realize 6-degree-of-freedom motion in space, and the load can reach 3000kg, which can meet the demand for the highest precision and the largest load. It is very suitable for high-precision test operations in laboratories, aerospace and other industries, and is mainly used for assembly and motion simulation of various materials.

　Algorithm

　1. Speed: We optimized the smooth segment algorithm again, under the standard stroke. The speed of the manipulator has been increased from 220 to 252 times.

　　2. Vibration/Accuracy: After completing the basic speed planning, AtomMotion optimized the existing speed planning, tested under the same test conditions, and the optimized vibration value was reduced by nearly 30%.

　At the same time, we also analyzed the vibration performance under different variables (trajectory length, smooth ratio, type of motion law, load), trying to find the best results for motion in different environments.

（Vibration comparison of different acceleration types）

（Different load）

（Different smoothing）

（Different beats）

（Different path length）

（Different tracking types）

3. Torque control: We have also improved the drag teaching algorithm, and optimized the force compensation during the drag teaching process, making the drag process easier. At the same time, the trajectory tracking algorithm of the drag teaching is optimized, so that the drag teaching of the parallel robot can truly enter the production site of the industry.

　Odyssey-We who quarry, beware of the vision of the cathedral

At present, Atom controllers still have many problems to be solved urgently. According to the comparison table of vibration test with international controller under the same conditions, the result of vibration value is still very impressive. However, we are lacking in secondary development, resulting in insufficient application flexibility in some application scenarios. At the same time, the tracking and grasping accuracy under irregular motion laws is not ideal.

（Vibration contrast）

Next, we will continue to improve the performance and functions of the Atom autonomous controller, so that AtomRobot can adapt to more different scenarios and stricter technical requirements.

We will reduce the vibration generated by the manipulator during movement through the application of filtering technology, so as to reduce the vibration amplitude. Continue to optimize the tracking motion trajectory, optimize the tracking algorithm to further reduce the tracking error, and ultimately improve the tracking accuracy. The establishment of a secondary development platform environment can adapt to more application scenarios. At the same time, the user interface operation is further optimized and the learning cost of the user interface operation is reduced.

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First interpretation AtomMotion

Origin-dreams will not be frozen

Explore-run down the road

Odyssey-We who quarry, beware of the vision of the cathedral

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