摘要
随着人工智能和机器学习技术的进步,机器人具备更强的自主性和在复杂环境中独立完成任务的能力将成为未来的发展趋势。在工业领域,机器人的应用更加突出,执行任务时通常需要更高的精确度和实时可靠性。为了降低任务调度的延迟时间,提升系统的同步性,本文依据TCP/IP协议构建工业机器人的通信系统。我们设计了工业机器人的芯片架构和电源电路,并以TCP/IP协议为基础搭建网络通信系统,对通信双方的连接和断开过程进行了深入的分析和研究。我们对工业机器人通信系统的延迟进行了补偿,构建了邻接矩阵,对元素进行了赋值,计算了时钟偏差和时钟偏移补偿值,以保持其尽可能接近零的状态。在系统实验中,我们测试了任务调度的延迟,实验结果表明:在三种模式下,设计系统的最小延迟和最大延迟都没有超过标准值。在时钟同步性测试中,系统时间偏差为91μs,低于标准指标,这表明该工业机器人通信系统能够满足标准需求,适合大规模应用。
With the advancement of artificial intelligence and machine learning technologies,robots with stronger autonomy and the ability to independently complete tasks in complex environments will become the future trend.In the industrial field,the application of robots is more prominent,and tasks usually require higher precision and real-time reliability.In order to reduce the delay time of task scheduling and improve the synchronicity of the system,this paper constructs an industrial robot communication system based on the TCP/IP protocol.We designed the chip architecture and power circuit of the industrial robot,and built a network communication system based on the TCP/IP protocol,and conducted in-depth analysis and research on the connection and disconnection process of the communication parties.We compensated for the delay of the industrial robot communication system,constructed an adjacency matrix,assigned values to the elements,and calculated the clock deviation and clock offset compensation value to keep it as close to zero as possible.In the system experiment,we tested the delay of task scheduling.The experimental results show that in the three modes,the minimum and maximum delays of the designed system do not exceed the standard values.In the clock synchronization test,the system time deviation is 91μs,which is lower than the standard indicator,which shows that the industrial robot communication system can meet the standard requirements and is suitable for large-scale applications.
作者
陈婵娟
CHEN Chanjuan(Xi'an Traffic Engineering Institute,Xi'an Shaanxi 710300,China)
出处
《西安交通工程学院学术研究》
2023年第3期80-84,共5页
Academic Research of Xi'an Traffic Engineering Institute
