B IU KHIN PARALLEL ROBOT

KS. T Dip Cng Thnh, PGS. TS. ng Vn Nghn

B Mn C in T, Khoa C Kh, i Hc Bch Khoa Tp H Ch Minh
Email: tdcthanh@dme. hcmut. edu. vn
Tm tt
Khc vi loi Robot ni tip (Serial Robot), Robot song song (Parallel Robot) c nhng u im vt tri nh
cng vng, kh nng thay i v tr v nh hng linh hot, chnh xc v n nh cao, v. v.. c ng
dng trong nhiu lnh vc. Bi bo gii thiu loi Robot song song - Parallel Robot c cu trc khp kn c
to bi 6 chn v iu khin c lp. Tuy nhin nu dng nhng phng php iu khin thng thng th
tnh p ng ca robot s chm. y, chng ti trnh by kt qu nghin cu v b iu khin song song kt
hp vi gii thut iu khin song song lm tng tnh p ng v linh hot cho Robot.

Abstract
Different from many Serial Robots, Parallel Robot has some advantages such as: rigidity, changing position
ability and flexible navigation, accuracy and high stability... They are applied in a lot of fields. The Paper
introduce the Parallel Robot with closed-loop structure constructed by 6 dof and controlled independently.
However, if we use the control medthod as usual the respond of robot will slow. Hereby, we talk about the
research results about the Parallel Controller compacted with Parallel Algorithm in order to increase the
respond and flexibility for Robot.

1. T VN
Ngy nay, cc k thut Robot vi s h tr ca my tnh p ng c chnh xc
cao, thi gian thu nhn v x l cc tn hiu nhanh chng, tin cy, lm tng nng sut
lao ng, hn ch cc tai nn v c hi cho con ngi, v. v... Tuy nhin vi loi Serial
Robot hin nay trong rt nhiu lnh vc bc l r nhng nhc im nh tnh linh hot
thp, tc x l v kh nng p ng khng cao, cng vng cng nh tnh chnh xc
cha m bo. khc phc phn no cc khuyt im trn mt loi Robot mi ra i
l Parallel Robot.
Serial Robot l loi Robot lin tip c kt cu h c lin kt vi cc khu ng hc v
c iu khin tun t hoc song song. Khc hn vi Serial Robot, theo J-P. Merlet,
Parallel Robot l c cu vng kn trong khu tc ng cui c lin kt n nn bi t
nht hai chui ng hc c lp. Trn hnh 1 gii thiu mt loi Parallel Robot .

Hnh 1: Mt loi Parallel Robot

Do nhu cu ca thc t, Parallel Robot pht trin theo nhiu hng khc nhau nh:
-

Theo bc t do Parallel Robot c th c 3, 4, 5 hoc 6 bc t do.

Theo vn tc dch chuyn c cc loi vn tc trung bnh v vn tc cao (v /5m/s)

v cn nhiu kiu phn loi khc na.

Tuy nhin nhn chung tt c cc loi Parallel Robot u c nhng u im nh: kh nng
chu ti cao, gia tc ln, cng vng c kh cao, khi lng ng thp, tn s ring cao,
kt cu n gin v cc c cu chp hnh u c th nh v trn tm nn
Vi nhng u im trn, Parallel Robot c ng dng trong rt nhiu lnh vc nh: Y
hc, thin vn hc, trc a, cc my cng c, v.v.
Parallel Robot l chui nhiu khu khp kn cho nn n ht sc a dng v iu khin rt
phc tp, thc hin mt tc ng iu khin cho khu ng hc cui, cc khu ng hc
phi c iu khin ng thi. y l mt i hi kh khn cho thit k b iu khin.
2. B IU KHIN SONG SONG
Nh gii thiu, thc hin vic iu khin cho Parallel Robot, cn c mt b iu
khin sao cho m bo c tnh ng thi, kh nng nh v qun l tng khu ng hc
c lp. y, chng ti gii thiu mt b iu khin dng cho Parallel Robot c 6 bc t
do (hnh 2).

My tnh
Khi iu khin
ng hc khu 1

Khi iu khin
ng hc khu 4
Khi iu khin trung tm

Khi iu khin
ng hc khu 2

Khi iu khin
ng hc khu 5
Khi mch
khuch i cng sut

Khi iu khin
ng hc khu 3

Khi iu khin
ng hc khu 6

Hnh 2: S khi ca b iu khin Parallel Robot

B iu khin Parallel Robot l h thng phc tp, gm mt tp hp cc phn t x l c
lp lin lc vi nhau bng cch trao i cc thng tin. Mi mt b x l c lp s thc
hin mt lot cc ch th ca chnh n v lm vic trn mt tp cc d liu ring bit.
Gii thiu cc phng php iu khin song song
Cc nghin cu c trin khai nhm tm kim phng php to ra nhng chng trnh
c th thc thi ng thi trn nhng chng trnh song song. Cc nghin cu trin khai vic
song song ho c th c phn thnh 4 mc :

- mc ng dng: Cc chng trnh c thc thi ng thi trn nhng b x l khc

nhau hoc nhng my khc nhau v c th c s trao i thng tin ln nhau. Chng thc
hin vic phn phi cc ng dng cho cc b x l theo khng gian v thm ch theo thi
gian. mc ny, mi chng trnh ng dng vn thc thi tun t.
- mc chng trnh: Ngi lp trnh s tm kim gii thut c th thc thi ng thi cho
vn cn gii quyt. Do , trch nhim song song ho chng trnh s do ngi lp trnh
thc hin. Bng t duy ca con ngi cng nh ty theo c th ca mi bi ton, ngi lp
trnh c th tm ra cch thc song song ho khc nhau sao cho chng trnh c th thc thi
ng thi mt cch hiu qu nht.
- mc pht biu: Chng trnh dch s m nhim vai tr song song ho chng trnh. N
s tm kim trong mt chng trnh tun t t nhng kh nng song song ho, thc hin cc
bin i to ra m chng trnh song song, sinh thm cc m ng b v trao i thng
tin. u im chnh ca mc ny l kh khn ca ngi lp trnh c gim nh v chng
trnh c tnh linh hot v c th p dng trn nhng m hnh my khc nhau v chng
trnh dch s thc hin vic to m thch hp cho m hnh my m n ang dch sang.
- mc lnh my: Cc b x l s tm cch thc hin nhiu lnh my ng thi theo cc
c ch khc nhau.
Qua phn tch kh nng cng ngh v tnh kinh t, chng ti la chn phng php gi lp
song song t my tnh mc chng trnh.
Thit k b iu khin song song
B iu khin song song c thit k da trn gii thut gi lp song song t my tnh v
giao tip vi my tnh thng qua Slot chun ISA. T m bo tnh nh v kh nng
qun l cc khu ng hc c lp th ng vi tng khu yu cu phi c a ch ring,
ngoi ra phi c kh nng m rng port iu khin v gim st qu trnh iu khin.
Chng ti la chn IC 8255 lm nhim v qun l v lp trnh iu khin cng nh xc
nh 6 a ch port v iu khin cho cc khu ng hc (hnh 3).

A0
A1
A2
A3
A4
A5
A6
A7
VCC
DIR
GND
u10

74HC245
74HC00
CS1
CS2
CS3
CS4
CS5
CS6

U8A

74HC00

10
GND
VCC
7
26
GND
VCC
PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7

PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7

RESET
RD
WR
CS

A0
A1

8255
PA41
PA42
PA43
PA44
PA45
PA46
PA47
PA48
PB41
PB42
PB43
PB44
PB45
PB46
PB47
PB48
PC41
PC42
PC43
PC44
PC45
PC46
PC47
PC48

4
3
2
1
40
39
38
37
18
19
20
21
22
23
24
25
14
15
16
17
13
12
11
10

PC11
PC12
PC13
PC14
PC15
PC16
PC17
PC18

14
15
16
17
13
12
11
10

PA41
PA42
PA43
PA44
PA45
PA46
PA47
PA48
PB41
PB42
PB43
PB44
1
3
5
7
9
11
13
15
17
19
21
23

1
3
5
7
9
11
13
15
17
19
21
23

2
4
6
8
10
12
14
16
18
20
22
24

2
4
6
8
10
12
14
16
18
20
22
24
JP1

35
5
36
6

U1

PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7

PB11
PB12
PB13
PB14
PB15
PB16
PB17
PB18

18
19
20
21
22
23
24
25

PA11
PA12
PA13
PA14
PA15
PA16
PA17
PA18
PB11
PB12
PB13
PB14

HEADER 12X2

D0
D1
D2
D3
D4
D5
D6
D7

PA11
PA12
PA13
PA14
PA15
PA16
PA17
PA18

4
3
2
1
40
39
38
37

1
14
2
15
3
16
4
17
5
18
6
19
7
20
8
21
9
22
10
23
11
24
12
25
13

PB45
PB46
PB47
PB48
PC41
PC42
PC43
PC44
PC45
PC46
PC47
PC48

34
33
32
31
30
29
28
27
9
8

D0
D1
D2
D3
D4
D5
D6
D7
A0
A1

35
5
36
6
7
26

GND
VCC

9
8

34
33
32
31
30
29
28
27

RESET
RD
WR
CS5

A0
A1

D0
D1
D2
D3
D4
D5
D6
D7

GND7
VCC26

RESET
35
RD 5
WR 36
CS2 6

PA41
PA31
PA42
PA32
PA43
PA33
PA44
PA34
PA11
PA61
PA12
PA62
PA13
PA63
PA14
PA64
PA21
PA51
PA22
PA52
PA23
PA53
PA24
PA54

PB15
PB16
PB17
PB18
PC11
PC12
PC13
PC14
PC15
PC16
PC17
PC18

GND
VCC

RESET
RD
WR
CS

A0
A1

D0
D1
D2
D3
D4
D5
D6
D7

GND
VCC

RESET
RD
WR
CS

A0
A1

D0
D1
D2
D3
D4
D5
D6
D7

PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7

PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7

PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7

PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7

PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7

PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7

8255

9
8

34
33
32
31
30
29
28
27

GND
VCC
PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7

PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7

A0
A1
RESET
RD
WR
CS

PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7

D0
D1
D2
D3
D4
D5
D6
D7

U2

RESET
RD
WR
CS4

A0
A1

D0
D1
D2
D3
D4
D5
D6
D7

7
26

35
5
36
6

9
8

34
33
32
31
30
29
28
27

PB51
PB52
PB53
PB54
PB55
PB56
PB57
PB58
PC51
PC52
PC53
PC54
PC55
PC56
PC57
PC58

18
19
20
21
22
23
24
25
14
15
16
17
13
12
11
10

PC21
PC22
PC23
PC24
PC25
PC26
PC27
PC28

14
15
16
17
13
12
11
10

PA51
PA52
PA53
PA54
PA55
PA56
PA57
PA58

PB21
PB22
PB23
PB24
PB25
PB26
PB27
PB28

18
19
20
21
22
23
24
25

4
3
2
1
40
39
38
37

PA21
PA22
PA23
PA24
PA25
PA26
PA27
PA28

4
3
2
1
40
39
38
37

PA51
PA52
PA53
PA54
PA55
PA56
PA57
PA58
PB51
PB52
PB53
PB54

PA21
PA22
PA23
PA24
PA25
PA26
PA27
PA28
PB21
PB22
PB23
PB24

1
3
5
7
9
11
13
15
17
19
21
23

1
3
5
7
9
11
13
15
17
19
21
23
HEADER 12X2

JP4
HEADER 12X2

u4

U7

74HC138
19
P=Q
OE
3
Q0
P0
5
Q1
P1
7
Q2
P2
9
Q3
P3
12
Q4
P4
14
Q5
P5
16
Q6
P6
18
Q7
P7
GND
VCC

15
14
13
12
11
10
9
7

GND
VCC

RESET
RD
WR
CS1

A0
A1

D0
D1
D2
D3
D4
D5
D6
D7

2
4
6
8
10
12
14
16
18
20
22
24

2
4
6
8
10
12
14
16
18
20
22
24

JP2

Y0
Y1
Y2
Y3
Y4
Y5
Y6
Y7

D0
D1
D2
D3
D4
D5
D6
D7

PB55
PB56
PB57
PB58
PC51
PC52
PC53
PC54
PC55
PC56
PC57
PC58

PB25
PB26
PB27
PB28
PC21
PC22
PC23
PC24
PC25
PC26
PC27
PC28
9
8

35
5
36
6
7
26

GND
VCC

9
8

34
33
32
31
30
29
28
27

PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7

PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7

PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7

GND
VCC

RESET
RD
WR
CS

A0
A1

D0
D1
D2
D3
D4
D5
D6
D7

GND
VCC

RESET
RD
WR
CS

A0
A1

D0
D1
D2
D3
D4
D5
D6
D7

RESET
RD
WR
CS6

A0
A1

D0
D1
D2
D3
D4
D5
D6
D7

GND 7
VCC 26

RESET
35
RD 5
WR 36
CS3 6

A0
A1

D0 34
D1 33
D2 32
D3 31
D4 30
D5 29
D6 28
D7 27

8255

1
2
4
6
8
11
13
15
17
10
20

A
B
C
VCC
G1
G2A
G2B
GND

19

18
17
16
15
14
13
12
11

PC0
PC1
PC2
PC3
PC4
PC5
PC6
PC7

PB0
PB1
PB2
PB3
PB4
PB5
PB6
PB7

PA61
PA62
PA63
PA64
PA65
PA66
PA67
PA68
PB61
PB62
PB63
PB64
PB65
PB66
PB67
PB68
PC61
PC62
PC63
PC64
PC65
PC66
PC67
PC68

18
19
20
21
22
23
24
25
14
15
16
17
13
12
11
10

PC31
PC32
PC33
PC34
PC35
PC36
PC37
PC38
14
15
16
17
13
12
11
10

4
3
2
1
40
39
38
37

PB31
PB32
PB33
PB34
PB35
PB36
PB37
PB38
18
19
20
21
22
23
24
25

PA0
PA1
PA2
PA3
PA4
PA5
PA6
PA7

PA31
PA32
PA33
PA34
PA35
PA36
PA37
PA38
4
3
2
1
40
39
38
37

PA61
PA62
PA63
PA64
PA65
PA66
PA67
PA68
PB61
PB62
PB63
PB64

PA31
PA32
PA33
PA34
PA35
PA36
PA37
PA38
PB31
PB32
PB33
PB34

1
3
5
7
9
11
13
15
17
19
21
23

1
3
5
7
9
11
13
15
17
19
21
23
HEADER 12X2

AEN
A5
A6
A7
A8
A9
GND
GND
GND
GND
VCC

OE

B0
B1
B2
B3
B4
B5
B6
B7

u3

A2 1
A3 2
A4 3
VCC16
VCC6
GND4
GND5
GND8

WR 2

RD 1

2
3
4
5
6
7
8
9
20
1
10

22RESET
A0
9
21 WR
A09
8
20 RD
A08
7
19AEN
A07
6
18 A9
A06
5
17 A8
A05
4
16 A7
A04
3
15 A6
A03
2
14 A5
A02
1

13 A4
25
12 A3
24VCC
11 A2
23GND
10 A1

A09
A08
A07
A06
A05
A04
A03
A02
VCC
RD
GND

2
4
6
8
10
12
14
16
18
20
22
24

2
4
6
8
10
12
14
16
18
20
22
24

JP3
JP6
HEADER 12X2

u6
8255

JP5
HEADER 12X2

u5
8255

P2
CONNECTOR DB25

8255

SW4
SW DIP-8/SM

R1

R2

R3
10k

R4
10k

5
R5
10k

R6
10k

4
R7
10k

9
74HC00
VCC

R8
10k

10K

10k
74HC688

P1

CONNECTOR DB25

Hnh 3: B iu khin Parallel Robot

3. GII THUT IU KHIN GI LP SONG SONG

Trn cc h thng lp trnh song song, khi thit k cn phi m bo cc c tnh nh: kh
nng m rng (scalability), kh nng hot ng cc b (locality) v c tnh module
(modularity).

Tnh ng thi l kh nng thc hin nhiu hnh ng ng thi, thc cht l
chng trnh thi hnh cng lc trn nhiu processor.

PB65
PB66
PB67
PB68
PC61
PC62
PC63
PC64
PC65
PC66
PC67
PC68

PB35
PB36
PB37
PB38
PC31
PC32
PC33
PC34
PC35
PC36
PC37
PC38

Tnh m rng nhm t c vn quan trng l ci t chng trnh mt ln, nhng

c th hot ng trn cc h thng khc nhau khng ph thuc vo s processor. Ni
cch khc, chng trnh c th ci t m khng quan tm n s processor s thi hnh.

Tnh cc b c tho mn th chi ph ca thut gii gim ng k bi vic truy cp n

d liu cc b xy ra thng xuyn hn vic truy cp n d liu xa.

Thuc tnh modularity c mong i ging vi s mong i trong lp trnh tun t.

y chnh l s phn chia ca nhng thc th phc tp thnh cc thnh phn n gin
hn.

Phng php thit k gii thut gi lp song song c th c xy dng nh mt tin trnh
thit k tng qut qua 4 giai on ring bit :
-

S phn chia: Vic tnh ton c thc hin trn nhng vng d liu nh hn v cc
thao tc c a v thnh nhng nhim v nh hn.

S thng tin: Xc nh cc cu trc v thut gii truyn thng gia cc nhim v c

s hot ng ph hp.

S kt hp: Nhim v v cc cu trc truyn thng c xc nh trong hai giai on

u c nh gi i vi nhng yu cu ca vic thc hin v chi ph ca vic ci t.
Nu cn thit, nhng nhim v kt hp li c nhng nhin v ln hn t tng hiu
sut thc hin hoc gim chi ph ca thut gii.

S sp xp: Mi nhim v c gn n mt processor sao cho tn dng ti a s

processor v ti thiu v chi ph truyn thng.

Nhng c tnh c yu cu cho vic thit k cc gii thut song song v ng thi 4 giai
on trong phng php thit k gii thut gi lp song song l c s cho vic thit k
chng trnh iu khin gi lp song song c ng dng cho m hnh song song Parallel.
Robot. Chng trnh iu khin gii lp song song c thit k trn nhng ng dng vi
mi mc ng dng l mt chng trnh iu khin cho mt c cu chp hnh nhm thc
hin mt tc v c lin quan, l thay i chiu di ca cc chn nhm nh hng, v tr
ca tm di chuyn trong khng gian.
Trnh t cc bc tin hnh cho vic thit k chng trnh iu khin gi lp song song
theo c ch phn chia thi gian thc nh sau:
-

Xy dng m hnh ton hc nhm xc nh thi gian thc yu cu ca tng ng dng

Kim sot h thng cc d liu lin quan n tng mc ng dng v ng thi t chc
sp xp trnh t yu cu ca mi mc ng dng

Xc nh bit a ch tng ng vi trnh t yu cu ca mi mc ng dng

Tin hnh phn chia khe thi gian tng ng vi trnh t yu cu ca mi mc ng

dng, nhm p ng kh nng song song ho cc chng trnh iu khin ca mi mc
mg dng.

Gii thut iu khin gi lp song song c trnh by trn hnh 4.

Hnh 4: Gii thut iu khin gi lp song song

4. Kt lun
Chng ti trin khai ch to b iu khin Parallel Robot v qua qu trnh nghin cu l
thuyt cng nh thc hin mt s th nghim b iu khin Parallel Robot hin ang c
ng dng iu khin m hnh HEXAPOD-2001. Kt qu l ban u chng t n c
kh nng m bo tnh gi lp song song, qun l c cc khu ng hc c lp, tnh n
nh v nng cao c kh nng p ng thi gian thc trong qu trnh iu khin Parallel
Robot.
Hng nghin cu pht trin tip tc l nng cao tnh n nh, kh nng p ng thi gian
thc v k thut lp trnh gi lp song song ca loI b iu khin ny v ng dng trong
cc m hnh Parallel Robot khc hin ang c trin khai ti B mn C in T Khoa
C Kh - i hc Bch Khoa TP. H Ch Minh.
TI LIU THAM KHO
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Trn Nguyn Duy Phng, Thit k v iu khinHexapod, Lun n cao

hc, i hc Bch Khoa TPHCM 2000.
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www.parallemic.org
www.hexapod.com