CN102126220A - Control system for six-degree-of-freedom mechanical arm of humanoid robot based on field bus - Google Patents
Control system for six-degree-of-freedom mechanical arm of humanoid robot based on field bus Download PDFInfo
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- CN102126220A CN102126220A CN2010100324534A CN201010032453A CN102126220A CN 102126220 A CN102126220 A CN 102126220A CN 2010100324534 A CN2010100324534 A CN 2010100324534A CN 201010032453 A CN201010032453 A CN 201010032453A CN 102126220 A CN102126220 A CN 102126220A
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Abstract
The invention discloses a control system for a mechanical arm of a humanoid robot, belonging to the field of robot technology and automation and particularly relating to a control system for a six-degree-of-freedom mechanical arm of a humanoid robot based on a field bus so as to realize accurate control on the action and gesture of the mechanical arm of the humanoid robot. The control system comprises a master computer (1), a field bus (2) and servo units (3). The master computer (1) implements a motion planning algorithm and communicates with the servo units (3) through the field bus (2); and the servo units (3) drive the coordinated movement of the joints 1-2 of the mechanical arms 1-3 of the humanoid robot so as to achieve the expected gesture. The control system disclosed by the invention realizes good real-time performance, accurate motion control, simple and efficient circuit, strong antijamming capability and low cost, and is convenient to use, and fewer cables are adopted.
Description
Affiliated technical field
The invention belongs to Robotics and automatic field, relate to the control system of robot arm, particularly a kind of control method and system based on fieldbus anthropomorphic robot six degree of freedom mechanical arm.
Background technology
Anthropomorphic robot is and the immediate a kind of robot of the mankind; it is compared with traditional caterpillar robot or wheeled robot; more can adapt to human surroundings; be more convenient for using the various tool of inventing design as the mankind simultaneously; imitate human various actions action; therefore, anthropomorphic robot has vast potential for future development.
At present, people still mainly concentrate on effective more, the reliable stability control method of exploration for the research of anthropomorphic robot, in these researchs, the arm of anthropomorphic robot and hand contacts stressed position as coordination in the robot action with extraneous, just become the key point of coordination and action stability in the action of solution anthropomorphic robot.In the action of some complexity, during such as the broadsword play of wushu, sword-play, Taiji push hands, nautch, running, its arm attitude is with regard to particular importance, and the six degree of freedom mechanical arm can satisfy the elemental motion and the attitude of human arm, and six freely is 2 of shoulders, 1 of ancon, 3 of wrists.
The control method of anthropomorphic robot mechanical arm adopted the centralized Control method in the past.At present, the control method of anthropomorphic robot mechanical arm adopts according to the anthropomorphic robot size and concentrates or distributed control method, owing to select for use control method and system there are differences, its effect is also different.
Summary of the invention
Finish in the complicated action at the large-scale anthropomorphic robot mechanical arm of solution, for system height real-time, fault-tolerance, reliability, extendibility, the present invention proposes a kind of control system 1-1 based on fieldbus anthropomorphic robot six free mechanical arms, and described technical scheme is as follows:
A kind of control system 1-1 based on fieldbus anthropomorphic robot six free mechanical arms, described system comprises: master computer (1), fieldbus (2), servo unit (3).
Described master computer (1) is finished the motion planning algorithm, and master computer (1) also will be communicated by letter with each servo unit (3) by fieldbus (2) simultaneously, and each servo unit (3) drives the coordinated movement of various economic factors of each joint 1-2 of anthropomorphic robot mechanical arm 1-3.Described fieldbus (2) is selected CAN fieldbus (2) for use, the CAN bus is a kind of fieldbus (fieldbus), the direct communication distance can reach 10km farthest, below the speed 5Kbps, traffic rate reaches as high as 1MbPs, and communication distance is the longest at this moment is 40m, and node can reach 110 at present, communication media can be twisted-pair feeder, coaxial cable or optical fiber, and CAN fieldbus (2) is finished master computer (1) and communicated by letter with each servo unit (3).Each joint 1-2 motion of described servo unit driving device arm 1-3.
Described servo unit comprises that controller 2-1, driver 2-2, motor 2-3, detection and feedback circuit 2-4, decelerator 2-5 form.Driver 2-2 selects the JW-144-2 of TITECH for use, what motor 2-3 shoulder and ancon were selected for use is the RE series electrographite brush direct current generator of Switzerland MAXON company, model is RE3024V 60W, what wrist was selected for use also is the RE series electrographite brush direct current generator of Switzerland MAXON company, model is RE3024V 20W, what select for use from motor 2-3 repacking survey and feedback device is optical electric axial angle encoder, and detecting what select for use with feedback device from decelerator 2-5 is potentiometer, and what decelerator 2-5 selected for use is harmonic speed reducer.
Described controller 2-1 comprises CAN bus circuit 3-1, single-chip microcomputer 3-2, D/A change-over circuit 3-3.That single-chip microcomputer 3-2 selects for use is AT89C51CC01, and AT89C51CC01 itself has the CAN bus control unit by oneself, so do not need to add the CAN bus control unit, it is DAC7621 that D/A change-over circuit 3-3 selects D/A converter for use.
Described CAN bus circuit 3-1 comprises photoelectrical coupler 4-1, CAN bus transceiver 4-2, anti-lightning strike pipe 4-3, resistance R 1, resistance R 2, resistance R 3, resistance R 4, capacitor C 1, capacitor C 2.Photoelectrical coupler 4-1 selects for use high speed photo coupling to isolate the 6N137 chip, at this with 2 6N137 chips, the TXDC pin of single-chip microcomputer 3-2 is connected with a slice 6N137 chip I N pin by resistance R 1, the RXDC pin of single-chip microcomputer 3-2 is connected with another sheet 6N137 chip OUT pin, CAN bus transceiver 4-2 selects the TJA1050 chip for use, a slice 6N137 chip OUT pin connects TJA1050 chip pin TXD, another sheet 6N137 chip I N pin connects TJA1050 chip pin RXD by resistance R 2, the CANH pin of TJA1050 chip is by resistance R 3, capacitor C 1, anti-lightning strike pipe 4-3 links to each other with the CAN bus node, and the CANL pin of TJA1050 chip is by resistance R 4, capacitor C 2, anti-lightning strike pipe 4-3 links to each other with the CAN bus node.
The invention has the beneficial effects as follows:
1. the control real-time performance is good, and motion control is accurate.
2. circuit is simply efficient, and antijamming capability is strong.
3. cable is few, is convenient to use, and cost is low.
Description of drawings
Fig. 1 is system of the present invention and course of work schematic diagram.
Fig. 2 is a servo unit structural representation of the present invention.
Fig. 3 is a controller architecture schematic diagram of the present invention.
Fig. 4 is a CAN bus circuit structure chart of the present invention.
The specific embodiment
The present invention is described in more detail with concrete enforcement below in conjunction with accompanying drawing.
The first step: as shown in Figure 1, when anthropomorphic robot mechanical arm 1-3 need make certain attitude, master computer (1) is finished the motion planning algorithm according to the attitude of each current joint 1-2 and the attitude of next step each joint 1-2, and master computer (1) is sent to corresponding each servo unit (3) to the result of motion planning algorithm by fieldbus (2).
Second step: as shown in Figure 2, the controller 2-1 of corresponding each servo unit (3) is according to the result of motion planning algorithm and the certain control algolithm controller 2-1 output voltage signal of result's process of detection and feedback circuit 2-4, the output of the voltage signal control driver 2-2 of output, the output control motor 2-3 of driver 2-2 rotates, the rotating drive decelerator 2-5 of motor 2-3 rotates, rotate in the rotating drive joint 3 of decelerator 2-5,2-3 rotates at driver 2-2 control motor, motor 2-3 drives decelerator 2-5 to be changeed, when decelerator 2-5 drives joint 3 rotations, signal that detects from motor 2-3 axle optical electric axial angle encoder and the signal feedback that detects from decelerator 2-5 potentiometer are to controller 2-1, repeat said process again, reach the position of expection until joint 1-2, mechanical arm 1-3 need make the attitude of expection.
The 3rd step: as shown in Figure 1, the controller 2-1 of corresponding each servo unit (3) sends to master computer (1) to the posture position of each joint 1-2, simultaneously the next attitude of preparing machine arm 1-3.
Claims (4)
1. the control system 1-1 based on fieldbus anthropomorphic robot six free mechanical arms is characterized in that: comprise master computer (1), fieldbus (2) and servo unit (3) three parts.Master computer (1) is finished the motion planning algorithm, and master computer (1) also will be communicated by letter with each servo unit (3) by fieldbus (2) simultaneously, and each servo unit (3) drives the coordinated movement of various economic factors of each joint 1-2 of anthropomorphic robot mechanical arm 1-3.
2. control method and system based on fieldbus anthropomorphic robot mechanical arm as claimed in claim 1,, it is characterized in that: described servo unit (3) comprises that controller 2-1, driver 2-2, motor 2-3, detection and feedback circuit 2-4, decelerator 2-5 form.Driver 2-2 selects the JW-144-2 of TITECH for use, what motor 2-3 shoulder and ancon were selected for use is the RE series electrographite brush direct current generator of Switzerland MAXON company, model is RE3024V 60W, what wrist was selected for use also is the RE series electrographite brush direct current generator of Switzerland MAXON company, model is RE3024V 20W, what select for use from motor 2-3 repacking survey and feedback device is optical electric axial angle encoder, and detecting what select for use with feedback device from decelerator 2-5 is potentiometer, and what decelerator 2-5 selected for use is harmonic speed reducer.
3. servo unit as claimed in claim 2 (3) is characterized in that: the controller 2-1 of described servo unit (3) comprises CAN bus circuit 3-1, single-chip microcomputer 3-2, D/A change-over circuit 3-3.That single-chip microcomputer 3-2 selects for use is AT89C51CC01, and AT89C51CC01 itself has the CAN bus control unit by oneself, so do not need to add the CAN bus control unit, it is DAC7621 that D/A change-over circuit 3-3 selects D/A converter for use.
4. controller 2-1 as claimed in claim 3 is characterized in that: the CAN bus circuit 3-1 of described controller 2-1 comprises photoelectrical coupler 4-1, CAN bus transceiver 4-2, anti-lightning strike pipe 4-3, resistance R 1, resistance R 2, resistance R 3, resistance R 4, capacitor C 1, capacitor C 2.Photoelectrical coupler 4-1 selects for use high speed photo coupling to isolate the 6N137 chip, at this with 2 6N137 chips, the TXDC pin of single-chip microcomputer 3-2 is connected with a slice 6N137 chip I N pin by resistance R 1, the RXDC pin of single-chip microcomputer 3-2 is connected with another sheet 6N137 chip OUT pin, CAN bus transceiver 4-2 selects the TJA1050 chip for use, a slice 6N137 chip OUT pin connects TJA1050 chip pin TXD, another sheet 6N137 chip I N pin connects TJA1050 chip pin RXD by resistance R 2, the CANH pin of TJA1050 chip is by resistance R 3, capacitor C 1, anti-lightning strike pipe 4-3 links to each other with the CAN bus node, and the CANL pin of TJA1050 chip is by resistance R 4, capacitor C 2, anti-lightning strike pipe 4-3 links to each other with the CAN bus node.
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| CN2010100324534A CN102126220A (en) | 2010-01-12 | 2010-01-12 | Control system for six-degree-of-freedom mechanical arm of humanoid robot based on field bus |
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| CN2010100324534A CN102126220A (en) | 2010-01-12 | 2010-01-12 | Control system for six-degree-of-freedom mechanical arm of humanoid robot based on field bus |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231373A (en) * | 2013-03-26 | 2013-08-07 | 东南大学 | Exoskeleton hardware control platform |
| CN103522290A (en) * | 2013-10-14 | 2014-01-22 | 上海胖熊信息技术有限公司 | Distributed robot control system based on field buses |
| CN103786155A (en) * | 2014-01-21 | 2014-05-14 | 成都广泰实业有限公司 | Six-axis series robot motion trail programming and controlling method |
| CN106073896A (en) * | 2016-06-15 | 2016-11-09 | 重庆金山科技（集团）有限公司 | A kind of motor for operating robot controls network and method |
| CN109048914A (en) * | 2018-09-07 | 2018-12-21 | 天津福云天翼科技有限公司 | A kind of joint of robot servo-control system |
-
2010
- 2010-01-12 CN CN2010100324534A patent/CN102126220A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103231373A (en) * | 2013-03-26 | 2013-08-07 | 东南大学 | Exoskeleton hardware control platform |
| CN103522290A (en) * | 2013-10-14 | 2014-01-22 | 上海胖熊信息技术有限公司 | Distributed robot control system based on field buses |
| CN103522290B (en) * | 2013-10-14 | 2015-12-02 | 上海司塔珂机器人技术有限公司 | Fieldbus Based distributed robot's control system |
| CN103786155A (en) * | 2014-01-21 | 2014-05-14 | 成都广泰实业有限公司 | Six-axis series robot motion trail programming and controlling method |
| CN106073896A (en) * | 2016-06-15 | 2016-11-09 | 重庆金山科技（集团）有限公司 | A kind of motor for operating robot controls network and method |
| CN109048914A (en) * | 2018-09-07 | 2018-12-21 | 天津福云天翼科技有限公司 | A kind of joint of robot servo-control system |
| CN109048914B (en) * | 2018-09-07 | 2024-03-29 | 天津福云天翼科技有限公司 | Robot joint servo control system |
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Application publication date: 20110720 |