Nrog kev txhim kho thev naus laus zis thiab kev sib koom tes thoob plaws hauv kev lag luam, 2025 tau pom dav dav li "Xyoo ntawm Robotics." Tag nrho cov kev lag luam neeg hlau tau ntsib kev loj hlob tawg, nrog rau ntau yam kev thov scenarios tsav tsheb sib txawv ntawm kev siv tshuab thiab xav tau rau ob qho tib si software thiab kho vajtse. Yog li ntawd, cov kev xav tau thiab kev siv cov txheej txheem rau kev tswj xyuas lub sijhawm tiag tiag sib txawv. Leveraging kev nkag siab tob txog kev lag luam neeg hlau, APQ tau tsim cov phiaj xwm kev tswj hwm kev ua kom zoo tshaj plaws hauv lub sijhawm.
01
Diverging Robotic Technology Routes & Processing Platform Xaiv
Bipedal humanoid robots muaj cov qauv zoo li tib neeg uas ua tau zoo nyob rau hauv kev hloov pauv mus rau qhov chaw nyuaj thiab tag nrho lub cev sib koom ua haujlwm. Cov neeg hlau no feem ntau xav tau 38 mus rau 70 axes ntawm kev tswj cov lus tsa suab, uas txhais tau hais tias qhov kev xav tau ntawm lub sijhawm tiag tiag thiab tswj kev mus txog 1000Hz. APQ siv cov txheej txheem ua haujlwm siab X86 nrog software tuning kom tau raws li qhov xav tau ntawm lub sijhawm.
Los ntawm qhov sib txawv, lub log lossis lub hauv paus-hom neeg hlau txais yuav lub teeb hnyav dua chassis tsim, muab cov txiaj ntsig zoo dua hauv kev tswj tus nqi, kev ua haujlwm zoo, thiab roj teeb lub neej. Cov no feem ntau muaj nyob ib ncig ntawm 30 degrees ntawm kev ywj pheej thiab qis dua kev thov rau kev siv lub sijhawm tiag tiag, tab sis muaj kev nkag siab ntau dua rau kev siv hluav taws xob. Rau pawg no, APQ siv lub zog qis, tus nqi qis xws li Intel® N97 lossis J6412 los tsim cov kev daws teeb meem tiav. Qhov no sib npaug zog efficiency thiab nqi thaum leveraging cov nplua nuj kev loj hlob ecosystem ntawm lub X86 platform kom tau raws li nruj raws li kev cai tswj system real-time kev ua tau zoo, stability, kev koom ua ke, thiab compactness.
02
APQ's EtherCAT Real-Time Control Optimization Case Study
Daim ntawv thov Background
Wheeled/base robots feem ntau yog siv nyob rau hauv txoj kev tswj txoj kev sib tw, kev sib txuas ntawm ntau qhov chaw, kev pom kev taw qhia, thiab kev siv zoo sib xws. Lawv cov kev tswj hwm yuav tsum txhawb nqa:
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EtherCAT kev sib txuas lus tsheb npav ceevrau synchronized servo tswj
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Hard real-time OSrau sub-millisecond teb
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Compact industrial tsimhaum rau cov xov hlau nruj los yog qhov chaw txee
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Expandable portssuav nrog ntau qhov chaw nres nkoj thiab LAN rau ntau hom kev sib xyaw ua ke
Ib tus neeg siv khoom, tsim ntau lub axis neeg hlau, xav tau EtherCAT kev txhawb nqa thiab kev ua haujlwm siab ntawm lub sijhawm. Txawm li cas los xij, kev sim nrog N97 platform thiab cov tsav tsheb servo tau pom tias EtherCAT kev sib txuas lus tsis tuaj yeem ncav cuag qis dua 50μs, tsim kom muaj ib qho tseem ceeb rau cov khoom loj.
Real-Time Optimization Approach
Siv N97 thiab J6412 platforms, APQ ua tiav tag nrho cov txheej txheem-theem real-time tuning. Piv txwv txheej txheem rau N97 platform:
1. OS Hloov mus rau Linux Xenomai Ib puag ncig:
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Ubuntu 20.04 + Linux Kernel 5.15
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Real-time thaj: Xenomai 3.2 (tshaj nrog LinuxCNC)
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Kev sib raug zoo tau sim rau tus neeg siv khoom xav tau (Kernel 4.19 + Xenomai 3.1)
Real-Time Tuning Cov kauj ruam:
a) BIOS tuning
b) Real-time kernel parameter optimization (ECI)
c) Cmdline parameter tuning (ECI)
d) Sib sib zog nqus OS-theem customization
e) Kev ntsuas latency/Jitter
2. Cov Qauv Ntsuas Kev Ntsuas Ua Haujlwm Ua Haujlwm:
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Cov cuab yeej:Latency, Clocktest, LinuxCNC xeem modules
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Hom phiaj:
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Latency: Max ncua <40μs
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Clocktest: Drift ≈ 0 (3rd kem ze rau xoom hauv qhov tshwm sim)
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Kev ua:Ntau qhov kev sim hla cov khoom siv kho vajtse (xws li J6412 raws li kev sib piv)
Kev Xeem Xeem:
Nyob rau hauv Linux Xenomai ib puag ncig, tswj lub sijhawm voj voog thiab jitters zoo dua. Lub latency tseem qis dua 40μs thoob plaws, thaum lub sijhawm ntsuas ntsuas ntsuas zero - ntsib cov ntawv thov xav tau.
Real-World Application Outcomes
Multi-Axis Robotic Arm Control
Kev sib tw:
8-axis synchronized vuam yuav tsum tau μs-theem sync; cov kev daws teeb meem ib txwm ua rau muaj kev cuam tshuam thiab kev ua yuam kev.
Optimization:
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J6412 nrog Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN ncaj qha rau EtherCAT servo
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Isolcpu mob siab rau lub sijhawm ua cov cores
Cov txiaj ntsig:
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Sync Precision:Clocktest drift ≤ 0.05μs; Max trajectory sib txawv <0.1mm
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Real-Time Assurance:72h kev ua haujlwm tsis tu ncua, ncov latency ≤ 38μs
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Tus nqi txo:35% tus nqi qis, 60% tsawg zog dua i5 tov
Quadruped Robot Dog Motion Control
Kev sib tw:
12-kev sib koom ua ke dynamic ntsuas xav tau μs-qib tawm tswv yim; legacy system latency> 100μs ua rau tsis muaj kev ruaj ntseg
Optimization:
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N97 + Xenomai 3.2
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PREEMPT_RT + ECI thaj
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Cmdline cais 2 CPU cores rau servo cov dej num
Cov txiaj ntsig:
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Tsawg latency:Tswj lub voj voog nyob rau hauv 500μs, latency ≤ 35μs
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Robustness:Hauv -20 ° C rov qab kuaj, jitter < ± 8μs
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Expandability:IMU sensor ntawm M.2; 60% kev txuag hluav taws xob tshaj i3-raws li kev daws teeb meem
Deployment Options
Rau cov neeg muaj peev xwm ua haujlwm tau tsom mus rau kev ua haujlwm tiag tiag, APQ pom zooLinux + Xenomaikev xa tawm. Rau cov neeg siv kawg nyiam qhov yooj yim tawm ntawm lub thawv, APQ kuj muajpre-installed thiab optimized system dluabnrog debugging cov ntaub ntawv - txo cov teeb meem xa mus.
Raws li cov neeg hlau hloov pauv cov haujlwm ntawm phau ntawv,real-time, ruaj khov, thiab nqi-zoo tswj systemsua qhov tseem ceeb rau kev vam meej. APQ tau ntsib qhov kev xav tau no los ntawm kev sib koom ua ke kho vajtse-software kev daws teeb meem thiab yuav txuas ntxiv ua kom nws qhov kev tsom mus rau cov neeg hlau ntug kev suav thiab kev tswj cov lus tsa suab - txhawb nqa ntau cov neeg siv khoom lag luam nrog ruaj khov, ua haujlwm tau zoo, thiab kev sib koom ua ke yooj yim.
Yog tias koj txaus siab rau peb lub tuam txhab thiab cov khoom, thov hu rau peb tus neeg sawv cev txawv teb chaws, Robin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Post lub sij hawm: Lub Xya hli ntuj-28-2025