Hamwe n'iterambere ry'ikoranabuhanga hamwe n'ubufatanye mu nganda, 2025 bigaragara ko ari “Umwaka wa Robo.” Inganda zose za robo zirimo kwiyongera guturika, hamwe nuburyo butandukanye bwo gukoresha butwara inzira zitandukanye zikoranabuhanga hamwe nibisabwa kuri software hamwe nibikoresho. Kubwibyo, ibisabwa nuburyo bwo gushyira mubikorwa kugihe nyacyo cyo kugenzura biratandukanye. Ukoresheje gusobanukirwa byimbitse murwego rwa robo, APQ yateguye intego nyayo yo kugenzura neza.
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Gutandukanya inzira ya tekinoroji ya tekinoroji & Gutunganya Ihuriro
Imashini za robo zibiri ziranga igishushanyo kimeze nkumuntu cyiza cyane muguhuza nubutaka bugoye hamwe numubiri wose uhuza ibikorwa. Izi robo zisanzwe zisaba amashoka 38 kugeza kuri 70 yo kugenzura ibyerekezo, bivuze ko bisabwa cyane mugihe gikenewe nigihe cyo kugenzura kugeza 1000Hz. APQ ikoresha progaramu ya X86 ikora cyane hamwe na software ikurikirana kugirango ihuze nibisabwa-igihe.
Ibinyuranyo, ibimuga bifite ibiziga cyangwa ubwoko bwibanze bifata igishushanyo cyoroshye cya chassis, gitanga inyungu nyinshi mugucunga ibiciro, gukora neza, hamwe nubuzima bwa bateri. Mubisanzwe bifite dogere 30 zubwisanzure nibisabwa mukubara igihe nyacyo, ariko byumva cyane gukoresha ingufu. Kuri iki cyiciro, APQ ikoresha imbaraga nke, urubuga ruhendutse nka Intel® N97 cyangwa J6412 kugirango yubake ibisubizo byuzuye. Ibi biringaniza imbaraga nigiciro mugihe ukoresha urusobe rwibidukikije rwiterambere rwibikorwa bya X86 kugirango byuzuze ibisabwa bikenewe kugirango igenzure sisitemu nyayo-nyayo, ituze, kwishyira hamwe, hamwe no guhuzagurika.
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APQ ya EtherCAT Yigihe-Igenzura Igikoresho cyo Kwiga
Gusaba Amavu n'amavuko
Imashini zifite uruziga / shingiro zikoreshwa muburyo bugoye bwo kugenzura inzira, guhuza imirongo myinshi, guhuza icyerekezo, hamwe nibisabwa. Sisitemu yo kugenzura igomba gushyigikira:
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EtherCAT itumanaho ryihuta rya bisikugenzura kugenzura servo
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OS igoye-igihekubisubizo bya sub-milisegonda
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Igishushanyo mbonera cy'ingandabikwiranye n'insinga zifatika cyangwa umwanya w'inama y'abaminisitiri
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Ibyambu byagutseharimo ibyiciro byinshi byuruhererekane hamwe na LAN ibyambu bitandukanye byo kwishyira hamwe
Umukiriya umwe, atezimbere robot-axis nyinshi, asabwa inkunga ya EtherCAT hamwe nigihe kinini cyo gukora. Nyamara, kwipimisha hamwe na platform ya N97 hamwe nabashoferi ba servo byerekanaga ko itumanaho rya EtherCAT ridashobora kugera munsi ya 50μs, bigatuma habaho icyuho gikomeye cyo gukora cyane.
Uburyo nyabwo bwo gukoresha uburyo bwiza
Ukoresheje urubuga rwa N97 na J6412, APQ yakoze sisitemu yuzuye-urwego nyarwo. Urugero rwintambwe ya N97:
1. OS Hindura kuri Linux Xenomai Ibidukikije:
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Ubuntu 20.04 + Intangiriro ya Linux 5.15
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Igihe nyacyo: Xenomai 3.2 (ihuje na LinuxCNC)
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Ubwuzuzanye bwageragejwe kumurage wabakiriya bakeneye (Kernel 4.19 + Xenomai 3.1)
Intambwe-nyayo yo guhuza intambwe:
a) Guhuza BIOS
b) Igihe nyacyo cyimikorere yibikoresho (ECI)
c) Guhuza ibipimo bya Cmdline (ECI)
d) Kwishyiriraho urwego rwimbitse rwa OS
e) Ibipimo byihuta / Ibipimo bya Jitter
2. Igipimo gisanzwe-Igihe cyo Kugerageza Akazi:
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Ibikoresho:Ubukererwe, Isaha, LinuxCNC modules
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Intego:
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Ubukererwe: Gutinda cyane <40μs
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Isaha: Drift ≈ 0 (inkingi ya 3 yegereye zeru mubisubizo)
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Iyicwa:Inshuro nyinshi zo kwipimisha mubice byibyuma (harimo J6412 nkugereranya)
Ibisubizo by'ibizamini:
Mubidukikije bya Linux Xenomai, kugenzura ibihe byigihe na jitter byateye imbere cyane. Ubukererwe bwagumye munsi ya 40μs mugihe cyose, mugihe isaha yihuta yegereye zeru - yujuje ibyifuzo.
Ibisubizo nyabyo-byisi
Igenzura rya Robo-Multi-Axis
Ikibazo:
8-axis isanisha isudira isabwa μs-urwego rwohuza; ibisubizo gakondo byateje amakosa ya drift na trayectory.
Gukwirakwiza:
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J6412 hamwe na Ubuntu 20.04 + Xenomai 3.2
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4x Gigabit LAN yerekeza kuri EtherCAT servo
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Isolcpus yihariye igihe nyacyo cyo gutunganya
Ibisubizo:
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Guhuza neza:Amasaha yisaha ≤ 0.05μs; Gutandukana kwinzira nini <0.1mm
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Ibyiringiro-Igihe:72h ibikorwa bikomeza, ubukererwe bwimpanuka ≤ 38μs
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Kugabanya ibiciro:35% igiciro gito, 60% imbaraga nke ugereranije na i5 igisubizo
Igikoresho cya kane cyimashini igenzura
Ikibazo:
12-ihuriweho ningirakamaro iringaniza ikenewe μs-urwego rwibitekerezo; umurage wa sisitemu yatinze> 100μs yateje umutekano muke
Gukwirakwiza:
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N97 + Xenomai 3.2
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PREEMPT_RT + ECI patch
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Cmdline yitandukanije 2 CPU yibikorwa bya servo
Ibisubizo:
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Ubukererwe buke:Kugenzura inzinguzingo muri 500μs, ubukererwe ≤ 35μs
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Gukomera:Muri -20 ° C ikizamini cyo gukira, jitter <± 8μs
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Kwaguka:Imashini ya IMU ikoresheje M.2; 60% yo kuzigama ingufu hejuru ya i3 ishingiye kubisubizo
Amahitamo yo kohereza
Kubakiriya bashoboye mubuhanga bibanze kumikorere nyayo, APQ irasabaLinux + XenomaiKohereza. Kubakoresha-nyuma bakunda guhitamo hanze, APQ nayo iratangambere-yashizwemo kandi itezimbere amashusho ya sisitemuhamwe no gukemura inyandiko - kugabanya inzitizi zoherejwe.
Nka robo igenda isimbuza imirimo y'intoki,sisitemu nyayo, itajegajega, kandi ikoresha uburyo bwiza bwo kugenzuraube ingenzi kugirango utsinde. APQ irakemura iki kibazo ikoresheje ibyuma bikomatanyije bikemurwa kandi bizakomeza gushimangira kwibanda kuri robot robot computing no kugenzura ibyerekezo - guha imbaraga abakiriya benshi binganda bafite urubuga ruhamye, rukora neza, kandi rwinjizwamo byoroshye.
Niba ushishikajwe nisosiyete yacu nibicuruzwa, wumve neza uhamagara uhagarariye mumahanga, Robin.
Email: yang.chen@apuqi.com
WhatsApp: +86 18351628738
Igihe cyoherejwe: Nyakanga-28-2025