CN104552297B - A kind of control system of six degree of freedom serial manipulator and control method thereof - Google Patents
A kind of control system of six degree of freedom serial manipulator and control method thereof Download PDFInfo
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Abstract
The present invention relates to a kind of control system of six degree of freedom serial manipulator, comprise the master controller by serial communication circuit and host computer both-way communication, its output firmly grasps circuit with robot hand respectively, the input of drive circuit is connected, and the output of drive circuit is connected with the motor being arranged on each joint of robot arm; Be arranged on the angular transducer of each joint of robot arm, be arranged on the signal output part of the pressure sensor at robot hand place and be all connected with the input of analog signal processing circuit, the output of analog signal processing circuit is connected with the input of master controller, and described master controller adopts MCF52259 chip.The invention also discloses a kind of control method of control system of six degree of freedom serial manipulator.Robot automatically detects position and finishes the work, and decreases unnecessary operation, controls simple and convenient; Adopt 32 MCF52259 chips as master controller, by carrying out serial communication with host computer, realize the real-time control to robot, control accuracy is high.
Description
Technical field
The present invention relates to robot control system technical field, especially a kind of control system of six degree of freedom serial manipulator and control method thereof.
Background technology
Along with the continuous upgrading of the development of robot in each field, robot system, the control overflow of people to robot is also more and more higher, the control accuracy of robot should be ensured, ensure the variation of the reliability of robot controlling, security and robot applications again.
Existing six degree of freedom serial manipulator control system major part is closed, although this robot controlling is simple, but can only finish the work for specific job task, and each applied robot will carry out position correction by teach box to it, not only increase the complicated operation degree of robot, the stability controlled and control accuracy are also difficult to ensure, and limit the application of robot.
Summary of the invention
Primary and foremost purpose of the present invention is to provide a kind of convenient operation, can realize the real-time control to robot, the control system of the six degree of freedom serial manipulator that control accuracy is high.
For achieving the above object, present invention employs following technical scheme: a kind of control system of six degree of freedom serial manipulator, comprise the master controller by serial communication circuit and host computer both-way communication, its output firmly grasps circuit with robot hand respectively, the input of drive circuit is connected, and the output of drive circuit is connected with the motor being arranged on each joint of robot arm, be arranged on the angular transducer of each joint of robot arm, be arranged on the signal output part of the pressure sensor at robot hand place and be all connected with the input of analog signal processing circuit, the output of analog signal processing circuit is connected with the input of master controller, and described master controller adopts MCF52259 chip, the number of described drive circuit, motor is six, and the number of described angular transducer is six, and the number of described pressure sensor is one, and the number of described analog signal processing circuit is seven, described serial communication circuit adopts electrical level transferring chip ICL3232, its 1 pin is connected with its 3 pin by electric capacity C43, its 4 pin is connected with its 5 pin by electric capacity C44, they are 11 years old, 10, 12, 9 pin respectively with 18 of MCF52259 chip, 16, 15, 17 pin one_to_one corresponding are connected, its 15 pin ground connection, its 6 pin is by electric capacity C46 ground connection, they are 14 years old, 7, 13, 8 pin respectively with inductance L 2, L3, L4, one end one_to_one corresponding of L5 is connected, inductance L 2, L3, L4, the other end of L5 respectively with 8 of RS232 interface, 2, 7, 3 pin one_to_one corresponding are connected, 11 of RS232 interface, by inductance L 6 ground connection after 10 pin are connected, described inductance L 2, L3, L4, L5, L6 are SMD inductance, and described electric capacity C43, C44, C46 are SMD electric capacity.Described drive circuit adopts THB6064AH driving chip, and 3,4,7,8,9,18,19,21,22 pin are connected with 108,109,120,122,123,126,127,11,121 pin one_to_one corresponding of MCF52259 chip respectively; Its 1 pin is connected with the negative electrode of light emitting diode D5, and the anode of light emitting diode D5 connects+5V direct current by resistance R13; Its 15 pin is by resistance R14 ground connection; 16,14,12,10 pin are connected with the input of motor; Its 11 pin is by resistance R19 ground connection; Its 23 pin is by resistance R15 ground connection; Its 24 pin divides two-way to export, and a road connects+5V direct current, separately leads up to electric capacity C27 ground connection; Its 25 pin is connected with one end of resistance R18, and the other end of resistance R18 is connected with 5 pin of resistance R16, resistance R17, THB6064AH driving chip respectively, another termination+5V direct current of resistance R17, and the other end of resistance R16 and resistance R15 are altogether; Described resistance R13, R14, R15, R16, R17, R18, R19 are paster type resistor, and described electric capacity C27 is SMD electric capacity.
Described analog signal processing circuit comprises resistance R67, its one end is connected with the signal output part of angular transducer or pressure sensor, its other end respectively with resistance R65, one end of R64 is connected, the other end ground connection of resistance R64, the other end of resistance R65 respectively with resistance R69, one end of electric capacity C53 is connected, the other end of resistance R69 is connected with the normal phase input end of operational amplifier U9A, the normal phase input end of operational amplifier U9A is by electric capacity C54 ground connection, the other end of electric capacity C53 is connected with the output of operational amplifier U9A, the inverting input of operational amplifier U9A respectively with resistance R66, one end of resistance R68 is connected, the other end ground connection of resistance R66, the other end of resistance R68 is connected with the output of operational amplifier U9A, the output of operational amplifier U9A is connected with 66 pin of MCF52259 chip, described operational amplifier U9A adopts NE5532P chip, described resistance R66, R67, R68, R69 are paster type resistor, and described electric capacity C53, C54 are SMD electric capacity.Described robot hand is firmly grasped circuit and is comprised triode Q102, its base stage is connected with 57 pin of MCF52259 chip, its grounded emitter, its colelctor electrode is connected with the negative electrode of light emitting diode D110 by resistance R170, the anode of light emitting diode D110 connects+5V direct current, the grid of metal-oxide-semiconductor Q103 is connected on resistance R170, between the colelctor electrode of triode Q102, the source electrode of metal-oxide-semiconductor Q103 and the emitter stage of triode Q102 are altogether, the drain electrode of metal-oxide-semiconductor Q103 respectively with the anode of diode D109, one end of the solenoid of magnetic valve is connected, the negative electrode of diode D109 is connected with one end of resistance R168, + 24V direct current is connect after the other end of resistance R168 is connected with resistance R169, the other end of the solenoid of another termination magnetic valve of resistance R169, magnetic valve is arranged on robot hand place.
Another object of the present invention is to the control method of the control system providing a kind of six degree of freedom serial manipulator, the method comprises the step of following order:
(1) power-up initializing, master controller judges whether the command signal receiving host computer transmission, if do not received, returns this step and continues to judge; Otherwise, enter next step;
(2) signal gathered by angular transducer judges that whether each joint of arm is at initial point, if the determination result is YES, then enters next step, otherwise the motor of each joint of arm trends towards initial point and rotates, and then returns and judges that whether each joint of arm is at initial point;
(3) arm joint place motor rotates, and makes robot enter assigned work position;
(4) signal gathered by angular transducer judges whether robot enters assigned work position, if the determination result is YES, then enters next step, otherwise returns previous step;
(5) robot hand grip objects;
(6) signal gathered by pressure sensor judges whether to grab object, and if the determination result is YES, object is put into assigned address by robot, finishes the work, otherwise, return previous step.
As shown from the above technical solution, pass through the present invention, staff can according to concrete working condition requirement, by programming to master controller, arrange the operating path of robot, robot automatically detects position according to the control program write in master controller and finishes the work, and not only reduces the operation that robot is unnecessary, control simple and convenient, and robot application can be made in more occasions by changing control program.In addition, the present invention adopts 32 MCF52259 microcontroller chips as master controller, carries out serial communication by RS232 and host computer, and the signal of sensor feedback, and realize the real-time control to robot, control accuracy is high, controls reliable and stable.
Accompanying drawing explanation
Fig. 1 is circuit block diagram of the present invention;
The circuit theory diagrams that Fig. 2,3,4,5,6 is respectively master controller in Fig. 1, serial communication circuit, drive circuit, analog signal processing circuit, robot hand firmly grasp circuit;
Fig. 7 is control method flow chart of the present invention.
Detailed description of the invention
A kind of control system of six degree of freedom serial manipulator, comprise by the master controller 2 of serial communication circuit 1 with host computer both-way communication, its output firmly grasps circuit 5 respectively with robot hand, the input of drive circuit 3 is connected, and the output of drive circuit 3 is connected with the motor being arranged on each joint of robot arm; Be arranged on the angular transducer of each joint of robot arm, be arranged on the signal output part of the pressure sensor at robot hand place and be all connected with the input of analog signal processing circuit 4, the output of analog signal processing circuit 4 is connected with the input of master controller 2, and described master controller adopts MCF52259 chip.The number of described drive circuit 3, motor is six, and the number of described angular transducer is six, and the number of described pressure sensor is one, and the number of described analog signal processing circuit 4 is seven, as shown in Figure 1, 2.The order that described master controller 2 sends according to host computer, sends pulse signal to drive circuit 3, and drive circuit 3 works also, and transmission signal is to motor, and motor rotates, and then drives controlled device and robot arm and paw to move on request; The pulse signal that master controller 2 exports according to the sensor signal adjustment received, and then the movement locus of adjustment robot, make robot by the orbiting motion of requirement in advance.
As shown in Figure 3, described serial communication circuit 1 adopts electrical level transferring chip ICL3232, its 1 pin is connected with its 3 pin by electric capacity C43, its 4 pin is connected with its 5 pin by electric capacity C44, they are 11 years old, 10, 12, 9 pin respectively with 18 of MCF52259 chip, 16, 15, 17 pin one_to_one corresponding are connected, its 15 pin ground connection, its 6 pin is by electric capacity C46 ground connection, they are 14 years old, 7, 13, 8 pin respectively with inductance L 2, L3, L4, one end one_to_one corresponding of L5 is connected, inductance L 2, L3, L4, the other end of L5 respectively with 8 of RS232 interface, 2, 7, 3 pin one_to_one corresponding are connected, 11 of RS232 interface, by inductance L 6 ground connection after 10 pin are connected, described inductance L 2, L3, L4, L5, L6 are SMD inductance, and described electric capacity C43, C44, C46 are SMD electric capacity.Electrical level transferring chip ICL3232 is used for Transistor-Transistor Logic level to be converted to RS232 level, connects RS232 serial communication interface.
As shown in Figure 4, the structure of described six drive circuits 3 is identical, for one of them drive circuit 3, described drive circuit 3 adopts THB6064AH driving chip, and 3,4,7,8,9,18,19,21,22 pin are connected with 108,109,120,122,123,126,127,11,121 pin one_to_one corresponding of MCF52259 chip respectively; Its 1 pin is connected with the negative electrode of light emitting diode D5, and the anode of light emitting diode D5 connects+5V direct current by resistance R13; Its 15 pin is by resistance R14 ground connection; 16,14,12,10 pin are connected with the input of motor; Its 11 pin is by resistance R19 ground connection; Its 23 pin is by resistance R15 ground connection; Its 24 pin divides two-way to export, and a road connects+5V direct current, separately leads up to electric capacity C27 ground connection; Its 25 pin is connected with one end of resistance R18, and the other end of resistance R18 is connected with 5 pin of resistance R16, resistance R17, THB6064AH driving chip respectively, another termination+5V direct current of resistance R17, and the other end of resistance R16 and resistance R15 are altogether; Described resistance R13, R14, R15, R16, R17, R18, R19 are paster type resistor, and described electric capacity C27 is SMD electric capacity.When chip plays overcurrent or overheat protector, light emitting diode D5, by electric current, brightens; 24V voltage is the driving power signal of motor.PTI0 pin and PTI1 pin are for selecting the damped manner of motor, PTI2 pin, PTI3 pin and PTI4 pin are for selecting the segmentation function of motor, PTI5 pin selects the enable of chip, PTI6 pin is chip reset signal, PTI7 pin is for selecting the rotating of motor, PWM0 pin provides pulse signal to chip, controls electric machine rotation angle.
As shown in Figure 5, the structure of described seven analog signal processing circuits 4 is identical, for one of them analog signal processing circuit 4, described analog signal processing circuit 4 comprises resistance R67, its one end is connected with the signal output part of angular transducer or pressure sensor, its other end respectively with resistance R65, one end of R64 is connected, the other end ground connection of resistance R64, the other end of resistance R65 respectively with resistance R69, one end of electric capacity C53 is connected, the other end of resistance R69 is connected with the normal phase input end of operational amplifier U9A, the normal phase input end of operational amplifier U9A is by electric capacity C54 ground connection, the other end of electric capacity C53 is connected with the output of operational amplifier U9A, the inverting input of operational amplifier U9A respectively with resistance R66, one end of resistance R68 is connected, the other end ground connection of resistance R66, the other end of resistance R68 is connected with the output of operational amplifier U9A, the output of operational amplifier U9A is connected with 66 pin of MCF52259 chip, described operational amplifier U9A adopts NE5532P chip, described resistance R66, R67, R68, R69 are paster type resistor, and described electric capacity C53, C54 are SMD electric capacity.SIGNAL1 is sensor signal input, and AN0 connects the analog/digital conversion module pin of master controller 2.
As shown in Figure 6, described robot hand is firmly grasped circuit 5 and is comprised triode Q102, its base stage is connected with 57 pin of MCF52259 chip, its grounded emitter, its colelctor electrode is connected with the negative electrode of light emitting diode D110 by resistance R170, the anode of light emitting diode D110 connects+5V direct current, the grid of metal-oxide-semiconductor Q103 is connected on resistance R170, between the colelctor electrode of triode Q102, the source electrode of metal-oxide-semiconductor Q103 and the emitter stage of triode Q102 are altogether, the drain electrode of metal-oxide-semiconductor Q103 respectively with the anode of diode D109, one end of the solenoid of magnetic valve is connected, the negative electrode of diode D109 is connected with one end of resistance R168, + 24V direct current is connect after the other end of resistance R168 is connected with resistance R169, the other end of the solenoid of another termination magnetic valve of resistance R169, magnetic valve is arranged on robot hand place, by the break-make of Controlling solenoid valve solenoid, and then realize paw and clamp the action loosened.If signal PTE0 is low level, the grid energising work of metal-oxide-semiconductor Q103, then solenoid energising, robot hand is promptly; Otherwise if signal PTE0 is high level, the grid power-off of metal-oxide-semiconductor Q103 does not work, then solenoid power-off, robot hand loosens.Host computer and master controller 2 carry out serial asynchronous communication by RS232 interface, host computer sends order to master controller 2, master controller 2 fill order, and master controller 2 sends data to host computer, host computer to data analysis, computing, the various action of robot command.Angular transducer is arranged on the joint of robot arm, for gathering the position signalling that robot arm rotates, pressure sensor is arranged on robot hand, for gathering the pressure signal of robot hand to object, angular transducer and pressure sensor send the signal collected to master controller 2, the pulse signal that master controller 2 exports according to the sensor signal adjustment received, and then the movement locus of adjustment robot, make robot by the orbiting motion of requirement in advance.
As shown in Figure 7, operationally, step one, power-up initializing, master controller 2 judges whether the command signal receiving host computer transmission, if do not received, returns this step and continues to judge; Otherwise, enter next step; Step 2, the signal gathered by angular transducer judges that whether each joint of arm is at initial point, if the determination result is YES, then enters next step, otherwise the motor of each joint of arm trends towards initial point and rotates, and then returns and judges that whether each joint of arm is at initial point; Step 3, arm joint place motor rotates, and makes robot enter assigned work position; Step 4, the signal gathered by angular transducer judges whether robot enters assigned work position, if the determination result is YES, then enters next step, otherwise returns previous step; Step 5, robot hand grip objects; Step 6, the signal gathered by pressure sensor judges whether to grab object, and if the determination result is YES, object is put into assigned address by robot, finishes the work, otherwise, return previous step.Described initial point and robot arm are in erectility straight up, and namely described assigned address treats grabbing workpiece position.
In sum, pass through the present invention, staff can according to concrete working condition requirement, by programming to master controller 2, arrange the operating path of robot, robot automatically detects position according to the control program write in master controller 2 and finishes the work, and not only reduces the operation that robot is unnecessary, control simple and convenient, and robot application can be made in more occasions by changing control program.In addition, the present invention adopts 32 MCF52259 microcontroller chips as master controller 2, carries out serial communication by RS232 and host computer, and the signal of sensor feedback, and realize the real-time control to robot, control accuracy is high, controls reliable and stable.
Claims (5)
1. the control system of a six degree of freedom serial manipulator, it is characterized in that: comprise the master controller by serial communication circuit and host computer both-way communication, its output firmly grasps circuit with robot hand respectively, the input of drive circuit is connected, and the output of drive circuit is connected with the motor being arranged on each joint of robot arm, be arranged on the angular transducer of each joint of robot arm, be arranged on the signal output part of the pressure sensor at robot hand place and be all connected with the input of analog signal processing circuit, the output of analog signal processing circuit is connected with the input of master controller, and described master controller adopts MCF52259 chip, the number of described drive circuit, motor is six, and the number of described angular transducer is six, and the number of described pressure sensor is one, and the number of described analog signal processing circuit is seven, described serial communication circuit adopts electrical level transferring chip ICL3232, its 1 pin is connected with its 3 pin by electric capacity C43, its 4 pin is connected with its 5 pin by electric capacity C44, they are 11 years old, 10, 12, 9 pin respectively with 18 of MCF52259 chip, 16, 15, 17 pin one_to_one corresponding are connected, its 15 pin ground connection, its 6 pin is by electric capacity C46 ground connection, they are 14 years old, 7, 13, 8 pin respectively with inductance L 2, L3, L4, one end one_to_one corresponding of L5 is connected, inductance L 2, L3, L4, the other end of L5 respectively with 8 of RS232 interface, 2, 7, 3 pin one_to_one corresponding are connected, 11 of RS232 interface, by inductance L 6 ground connection after 10 pin are connected, described inductance L 2, L3, L4, L5, L6 are SMD inductance, and described electric capacity C43, C44, C46 are SMD electric capacity.
2. the control system of six degree of freedom serial manipulator according to claim 1, it is characterized in that: described drive circuit adopts THB6064AH driving chip, and 3,4,7,8,9,18,19,21,22 pin are connected with 108,109,120,122,123,126,127,11,121 pin one_to_one corresponding of MCF52259 chip respectively; Its 1 pin is connected with the negative electrode of light emitting diode D5, and the anode of light emitting diode D5 connects+5V direct current by resistance R13; Its 15 pin is by resistance R14 ground connection; 16,14,12,10 pin are connected with the input of motor; Its 11 pin is by resistance R19 ground connection; Its 23 pin is by resistance R15 ground connection; Its 24 pin divides two-way to export, and a road connects+5V direct current, separately leads up to electric capacity C27 ground connection; Its 25 pin is connected with one end of resistance R18, and the other end of resistance R18 is connected with 5 pin of resistance R16, resistance R17, THB6064AH driving chip respectively, another termination+5V direct current of resistance R17, and the other end of resistance R16 and resistance R15 are altogether; Described resistance R13, R14, R15, R16, R17, R18, R19 are paster type resistor, and described electric capacity C27 is SMD electric capacity.
3. the control system of six degree of freedom serial manipulator according to claim 1, it is characterized in that: described analog signal processing circuit comprises resistance R67, its one end is connected with the signal output part of angular transducer or pressure sensor, its other end respectively with resistance R65, one end of R64 is connected, the other end ground connection of resistance R64, the other end of resistance R65 respectively with resistance R69, one end of electric capacity C53 is connected, the other end of resistance R69 is connected with the normal phase input end of operational amplifier U9A, the normal phase input end of operational amplifier U9A is by electric capacity C54 ground connection, the other end of electric capacity C53 is connected with the output of operational amplifier U9A, the inverting input of operational amplifier U9A respectively with resistance R66, one end of resistance R68 is connected, the other end ground connection of resistance R66, the other end of resistance R68 is connected with the output of operational amplifier U9A, the output of operational amplifier U9A is connected with 66 pin of MCF52259 chip, described operational amplifier U9A adopts NE5532P chip, described resistance R66, R67, R68, R69 are paster type resistor, and described electric capacity C53, C54 are SMD electric capacity.
4. the control system of six degree of freedom serial manipulator according to claim 1, it is characterized in that: described robot hand is firmly grasped circuit and comprised triode Q102, its base stage is connected with 57 pin of MCF52259 chip, its grounded emitter, its colelctor electrode is connected with the negative electrode of light emitting diode D110 by resistance R170, the anode of light emitting diode D110 connects+5V direct current, the grid of metal-oxide-semiconductor Q103 is connected on resistance R170, between the colelctor electrode of triode Q102, the source electrode of metal-oxide-semiconductor Q103 and the emitter stage of triode Q102 are altogether, the drain electrode of metal-oxide-semiconductor Q103 respectively with the anode of diode D109, one end of the solenoid of magnetic valve is connected, the negative electrode of diode D109 is connected with one end of resistance R168, + 24V direct current is connect after the other end of resistance R168 is connected with resistance R169, the other end of the solenoid of another termination magnetic valve of resistance R169, magnetic valve is arranged on robot hand place.
5. the control method of the control system of six degree of freedom serial manipulator according to any one of Claims 1-4, the method comprises the step of following order:
(1) power-up initializing, master controller judges whether the command signal receiving host computer transmission, if do not received, returns this step and continues to judge; Otherwise, enter next step;
(2) signal gathered by angular transducer judges that whether each joint of arm is at initial point, if the determination result is YES, then enters next step, otherwise the motor of each joint of arm trends towards initial point and rotates, and then returns and judges that whether each joint of arm is at initial point;
(3) arm joint place motor rotates, and makes robot enter assigned work position;
(4) signal gathered by angular transducer judges whether robot enters assigned work position, if the determination result is YES, then enters next step, otherwise returns previous step;
(5) robot hand grip objects;
(6) signal gathered by pressure sensor judges whether to grab object, and if the determination result is YES, object is put into assigned address by robot, finishes the work, otherwise, return previous step.
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| CN105108764B (en) * | 2015-09-14 | 2017-03-29 | 南京工程学院 | Intelligent robot mechanical hand and its control system |
| CN105196291A (en) * | 2015-09-23 | 2015-12-30 | 芜湖市汽车产业技术研究院有限公司 | Method and device for controlling robot |
| CN107309885A (en) * | 2017-06-27 | 2017-11-03 | 安徽新华学院 | Six-DOF industrial robot control system |
| CN110303521B (en) * | 2018-03-27 | 2022-07-01 | 清华大学 | Robot joint torque signal acquisition system and method |
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| US9283675B2 (en) * | 2010-11-11 | 2016-03-15 | The Johns Hopkins University | Human-machine collaborative robotic systems |
| CN203449314U (en) * | 2013-08-02 | 2014-02-26 | 无锡信捷电气股份有限公司 | Full closed-loop servo movement control system |
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