Abstract Robot controller is one of the key parts affecting the performance of robots. It affects the development of robots to some extent. This paper introduces the current status of robot controllers, analyzes their respective advantages and disadvantages, and discusses the development direction of robot controllers and the problems to be solved.

Key words robot controller, open structure, modular

CURRENT STATE AND TENDENCIES IN THE DEVELOPMENT

OF ROBOT CONTROLLER

FAN Yong TAN Min

(Institute of Automation, Chinese Academy of Science, Beijing 100080)

It has a great effect on the development of robot. This paper gives a brief overview of the current state of the robot controllers. The advantages and disadvantages are analyzed. In the following it is to Explore the key problems and treands of robot controller.

Key words Robot controller, open architecture, modularity

1 Introduction

It has been 50 years since the birth of the world's first remote-controlled manipulator. In this short period of time, with the development of computers, automatic control theory, the needs of industrial production and the advancement of related technologies, the development of robots has Experienced 3 generations [1]: (1) programmable teach-and-reproduce robots; (2) robots with certain autonomic capabilities based on sensors; (3) intelligent robots. As a core part of the robot, the robot controller is one of the key parts that affect the performance of the robot. It affects the development of robots to some extent. At present, due to the advancement of artificial intelligence, computer science, sensor technology and other related disciplines, the research of robots is carried out at a high level, and at the same time, higher requirements are put forward for the performance of robot controllers.

For different types of robots, such as legged walking robots and articulated industrial robots, the integrated method of the control system is quite different, and the design scheme of the controller is also different. This article only discusses industrial robot controller issues.

2 robot controller type

The robot controller is a device that controls the robot to perform certain actions or tasks according to the command and the sensing information. It is the heart of the robot and determines the performance of the robot.

From the perspective of the processing method of the robot control algorithm, it can be divided into two types of serial and parallel structure.

2.1 Serial Processing Structure

The so-called serial processing structure means that the robot's control algorithm is processed by the serial machine. For this type of controller, it can be divided into the following types according to the computer structure and control method [2].

(1) Single CPU structure, centralized control mode

Use a powerful computer to achieve all control functions. In the early robots, such as Hero-I, Robot-I, etc., this structure was adopted, but many calculations (such as coordinate transformation) were required in the control process, so the control structure was slow.

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