CN103699036A - Modularized high-precision robot joint controller - Google Patents
Modularized high-precision robot joint controller Download PDFInfo
- Publication number
- CN103699036A CN103699036A CN201310697619.8A CN201310697619A CN103699036A CN 103699036 A CN103699036 A CN 103699036A CN 201310697619 A CN201310697619 A CN 201310697619A CN 103699036 A CN103699036 A CN 103699036A
- Authority
- CN
- China
- Prior art keywords
- pin
- resistance
- motor drive
- power supply
- analog
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a modularized high-precision robot joint controller, which comprises a data operation and processing module, a power supply module, a clock and reset module, a data storage module, a data collection module, a motor driving module, and an angle sensor RDC506, wherein the angle sensor RDC506 is connected with the data collection module, the data collection module comprises an analog-to-digital conversion chip AD7888 and a reference voltage chip REF5030, the data collection module is connected with the data operation and processing module, the data operation and processing module comprises a DSP (digital signal processor) chip and an FPGA (field programmable gate array) chip, the data storage module and the data operation and processing module are connected, the motor driving module comprises a motor driving chip L6207 and an optic coupler TLP115, the motor driving module is connected with the data operation and processing module, and the power supply module is respectively connected with the data collection module and the data operation and processing module. The controller has the advantages that the control precision is high, the real-time effect is good, the structure is simple, and the reliability is high.
Description
Technical field
The present invention relates to a kind of joint control, be particularly useful for the joint control of robot.
Background technology
Any robot will normally work and will inevitably relate to motion and the coordination in each joint, and the levels of precision that joint motions are controlled has directly determined robot performance's quality, becomes the important directions of robotics development and research.Joint motions controller, as the direct control device of joint of robot motion control, therefore becomes the core of robot control system.At present, China specially for the positioner of joint of robot also seldom, particularly lack that a kind of modularization, control accuracy are high, real-time, simple in structure, good reliability can be applied to the device that joint of robot is controlled.
Chinese invention patent application CN200710051849.1, name is called in the patent of " a kind of independent joint control device for modularized robot based on DSP " has mentioned the independent joint control device for modularized robot based on DSP, what this invention designed is the control module in a joint, need a plurality of being used in combination, high cost and extended the Production design cycle.What this invention utilized is photoelectric encoder, thus limited it in the field of the small-sized angular transducer of needs as the application of delicate finger-joint control field.
Summary of the invention
The object of the present invention is to provide that a kind of general control accuracy is high, real-time, simple in structure, good reliability can control joint modularization high precision machines person joint controller.
Modularization high precision machines person joint controller of the present invention, comprise: data operation processing module, power module, clock and reseting module, data memory module, data acquisition module, motor drive module, angular transducer RDC506, data acquisition module comprises modulus conversion chip AD7888 and reference voltage chip REF5030, reference voltage chip REF5030 is connected with modulus conversion chip AD7888, and modulus conversion chip AD7888 is connected with data operation processing module; Data operation processing module comprises dsp chip and fpga chip, and dsp chip is connected with fpga chip; Data memory module comprises that FLASH storer AM29LV800 and synchronous dynamic follow access memory XCS3400A, and FLASH storer AM29LV800 follows access memory XCS3400A with synchronous dynamic and is connected with data operation processing module respectively; Motor drive module comprises motor drive ic L6207 and photo-coupler TLP115, and motor drive ic L6207 is connected with data operation processing module by photo-coupler TLP115; Power module comprises power supply TPS75733 and power supply LT1746, and power supply TPS75733 is connected with data acquisition module with data operation processing module respectively, and power supply LT1746 is connected with data operation processing module; Clock and reseting module comprise reset chip IMP811, and reset chip IMP811 is connected with data operation processing module; Angular transducer RDC506 and the modulus conversion chip AD7888 of data acquisition module link.
Modularization high precision machines person joint controller of the present invention can also comprise:
(1) power module also comprises power supply DC5V, the pin 2 of power supply TPS75733 connects the pin 2 of power supply DC5V, the pin 1 of power supply DC5V meets digitally GND, the pin 1 of power supply TPS75733 meets digitally GND, and be connected to the first capacitor C 11 between the pin 1 of power supply TPS75733 and pin 2, second resistance R 5 one end are connected with the pin 5 of power supply TPS75733, second resistance R 5 other ends are connected with 3.3V voltage, the second capacitor C 13 and the first polar capacitor C12 are connected in parallel on 3.3V voltage and digitally between GND, first resistance R 1 one end is connected with the pin 4 of power supply TPS75733, the other end of the first resistance R 1 is connected with the anode of light emitting diode D1, the negative electrode of light emitting diode D1 is connected with GND digitally, the pin 4 output 3.3V voltages of power supply TPS75733, the pin 1 of power supply LT1746, pin 2 are connected with 3.3V voltage, the pin 3 of power supply LT1746 is connected with GND digitally, between the pin 2 of power supply LT1746 and pin 3, be connected with the second polar capacitor C19, the 3rd capacitor C 21 and the 3rd polar capacitor C20 are connected in parallel between the pin 4 and pin 3 of power supply LT1746, the 3rd resistance R 3 is connected between the pin 4 and pin 5 of power supply LT1746, the 4th resistance R 4 is connected between the pin 5 and pin 3 of power supply LT1746, the pin 4 output 1.2V voltages of power supply LT1746.
(2) pin 4 of the modulus conversion chip AD7888 in data acquisition module is connected with pin 13 and is all connected with AGND in analog, the pin 3 of modulus conversion chip AD7888, between pin 4, be connected with the 4th capacitor C 10, the pin 3 of modulus conversion chip AD7888 is connected with analog power AVCC, the pin 2 of modulus conversion chip AD7888 and be connected with in analog the 5th capacitor C 8 between AGND, the 5th resistance R 10 one end connect the pin 2 of modulus conversion chip AD7888, the 5th resistance R 10 other ends and the 6th resistance R 20, one end of the 7th resistance R 30 is connected, the other end of the 6th resistance R 20 is connected with the pin 6 of reference voltage chip REF5030, the other end of the 7th resistance R 30 is connected with analog power AVCC, the pin 1 of modulus conversion chip AD7888 is sheet choosing, pin 14 is data input pin, pin 15 is data output end, pin 16 is serial clock interface, the pin 5 of modulus conversion chip AD7888 is connected with the pin 16 of analog input interface, the pin 6 of modulus conversion chip AD7888 is connected with the pin 15 of analog input interface, the pin 7 of modulus conversion chip AD7888 is connected with the pin 14 of analog input interface, the pin 8 of modulus conversion chip AD7888 is connected with the pin 13 of analog input interface, the pin 9 of modulus conversion chip AD7888 is connected with the pin 12 of analog input interface, the pin 10 of modulus conversion chip AD7888 is connected with the pin 11 of analog input interface, the pin 11 of modulus conversion chip AD7888 is connected with the pin 10 of analog input interface, the pin 12 of modulus conversion chip AD7888 is connected with the pin 9 of analog input interface, one end of the 8th resistance R 11, the 9th resistance R 12, the tenth resistance R the 13, the 11 resistance R the 14, the 12 resistance R the 15, the 13 resistance R the 16, the 14 resistance R 17, the 15 resistance R 18 is connected with pin 1, pin 2, pin 3, pin 4, pin 5, pin 6, pin 7, the pin 8 of analog input interface respectively, and the other end of the 8th resistance R 11, the 9th resistance R 12, the tenth resistance R the 13, the 11 resistance R the 14, the 12 resistance R the 15, the 13 resistance R the 16, the 14 resistance R 17, the 15 resistance R 18 is all connected with AGND in analog, the pin 2 of reference voltage chip REF5030 is connected with 3.3V voltage, pin 4 is connected with AGND in analog, the 6th capacitor C 6 is connected between the pin 2 and pin 4 of reference voltage chip REF5030, the 7th capacitor C 7 is connected to the pin 5 of reference voltage chip REF5030 and in analog between AGND, the 8th capacitor C 9 is connected to the pin 6 of reference voltage chip REF5030 and in analog between AGND, the pin 6 output 3.0V voltages of REF5030, at AGND in analog be digitally connected with magnetic bead FB between GND, analog power input interface pin 1 is connected with analog power AVCC, the pin 3 of analog power input interface, pin 5, pin 7, pin 9, pin 11, pin 13, pin 15, pin 17, pin 19 are all connected with 3.3V power supply, and the pin 2 of analog power input interface, pin 4, pin 6, pin 8, pin 10, pin 12, pin 14, pin 16, pin 18, pin 20 are all connected with AGND in analog.
(3) between the pin 4 of the motor drive ic L6207 of motor drive module and ground GNDL, chain is connected to the 9th capacitor C A1, the 16 resistance R A1 is in parallel with the 9th capacitor C A1, the 17 resistance R SENSEA1 is connected between the pin 3 and power supply ground POWERGNDL of motor drive ic L6207, the pin 6 of motor drive ic L6207 is connected with pin 7, and be all connected with ground GNDL, the tenth capacitor C B1 is connected between the pin 9 and ground GNDL of motor drive ic L6207, the 18 resistance R 40 is in parallel with the tenth capacitor C B1, the 19 resistance R SENSEB1 is connected between the pin 10 and power supply ground POWERCNDL of motor drive ic L6207, the 11 capacitor C REFA1 is connected between the pin 24 and ground GNDL of motor drive ic L6207, the 20 resistance R ENA1 one end is connected with the pin 23 of motor drive ic L6207, one section of the other end and the 21 resistance R ENB1 is connected, the other end of the 21 resistance R ENB1 is connected with the pin 14 of motor drive ic L6207, the 12 capacitor C ENA1 one end is connected with motor drive ic L6207 pin 23, the other end is connected with ground GNDL, the pin 24 of motor drive ic L6207, pin 13 is connected, the pin 20 of motor drive ic L6207, pin 17 is connected, the 13 capacitor C BOOT1 is connected between the pin 15 and pin 20 of motor drive ic L6207, the 14 capacitor C p1 one end is connected with motor drive ic L6207 pin 22, the other end is connected with one end of 22 resistance R p1, the other end of 22 resistance R p1 is connected with the negative electrode of the first diode D1.1, the anode of the first diode D1.1 is connected with motor drive ic L6207 pin 20, motor drive ic L6207 pin 20 is connected with power cathode VSS, the anode of the second diode D1.2 is connected with the negative electrode of the first diode D1.1, the negative electrode of the second diode D1.2 is connected with motor drive ic L6207 pin 15, the 15 capacitor C 1.1 is connected between motor drive ic L6207 pin 20 and power supply ground POWERGNDL, the 16 capacitor C 1.2 is in parallel with the 15 capacitor C 1.1, the pin 18 of motor drive ic L6207, pin 19 is connected, motor drive ic L6207 pin 18 is connected with ground GNDL, the 16 capacitor C ENB1 is connected between motor drive ic L6207 pin 14 and ground GNDL, the 17 capacitor C REFB1 is connected between motor drive ic L6207 pin 13 and ground GNDL.
Beneficial effect of the present invention:
1. DSP and FPGA are combined in the middle of the accurate control that is applied to joint of robot, given full play to FPGA for the fast processing advantage of the linear problem in joint of robot control procedure and floating-point operation DSP TMS320C6713 for the advantage of the rapid solution of the nonlinear problem in joint of robot control procedure, can well improve real-time and degree of accuracy that joint of robot is controlled.
2. the L6207 that adopts chopping frequency can reach 100kHz effectively improves control performance and control accuracy as motor drive ic, adopt optocoupler TLP115 as electrical isolation simultaneously, switching speed can reach 10MBd, can make PWM frequency reach 100kHz, has better guaranteed the accuracy of controlling.
3. system architecture modularization, facilitate user according to data acquisition module and the motor drive module of the different designs varying number of own control object, light-coupled isolation chip in motor drive module has guaranteed the safety of digital circuit simultaneously, has improved the reliability of system.
Accompanying drawing explanation
Fig. 1 is the System Working Principle figure of modularization high precision machines person joint controller;
Fig. 2 is the structural drawing of modularization high precision machines person joint controller;
Fig. 3 is the schematic diagram of power unit in modularization high precision machines person joint controller;
Fig. 4 is the schematic diagram of data acquisition module in modularization high precision machines person joint controller;
Fig. 5 is the schematic diagram of motor drive module in modularization high precision machines person joint controller.
Specific implementation method
Below in conjunction with accompanying drawing, the present invention is described in more detail, because the data operation processing module in the present invention, data memory module, reset are typical circuit with clock module circuit, is connected, therefore no longer its principle is elaborated.
In conjunction with Fig. 1, Figure 1 shows that the System Working Principle figure of modularization high precision machines person joint controller, the finger-joint that the function of whole system is achieved in that to control a robot delicate is example, the implementation procedure of robot high precision joint control is described, input signal is converted to the form of corner the simulating signal being proportional by pot, then is converted to digital signal and sends into the data operation processing module of governor circuit via the AD7888U8 chip on governor circuit.The angular transducer RDC506U4 that is coaxially arranged on finger-joint place can measure joint rotation angle, and process and the similar transmittance process of input signal, finally sends into data operation processing module.It is poor that the control program of data operation processing module is done these two signals, and judge two motors controlled quentity controlled variable that turns to and should apply size separately according to this deviation signal.Motor-drive circuit, according to this result of calculation, is controlled the voltage that imposes on motor in PWM mode.The power of motor passes to finger-joint by corresponding transmission mechanism, thereby completes the accurate control procedure to robot delicate finger-joint.
In conjunction with Fig. 2, what Fig. 2 embodied is the structured flowchart of robot high precision joint control.This system gathers the angle value of RDC506U4 by AD7888U8, then by Serial Peripheral Interface (SPI), transmit the data operation processing module that data are given TMS320C6713PYP200U1 and XCS3400A U2 composition.Adopt TLP115U10 to isolate data calculation process module and motor-drive circuit, better protect the safety of digital circuit, improve the reliability of whole system.In data storage, adopt AM29LV800U6 and MT48LC16M16A2P U7 to be used as the storage that data processing unit provides data.Adopt REF5030U11 as the 3V voltage reference of data acquisition unit, the 3.3V power supply of system is provided by TPS75933U3, LT1764U4 provides the 1.2V power supply of system.The reset circuit of system is provided by IMP811U5.
In conjunction with Fig. 3, Fig. 3 is the schematic diagram of power unit of the present invention.Native system is input as the digital voltage of 5V, so select the digital voltage of the 3.3V of TPS75933U3 generation digital sampling and processing needs, adopts the digital voltage of the 1.4V of LT1764U4 digital sampling and processing needs.Between the two ends of C11 be connected in parallel on+5V power input terminal and GND, the two ends of R2 are connected with 3.3V with the pin 5 of U3 respectively, have polar capacitor C12 and polarity free capacitor C13 to be connected in parallel between 3.3V and GND.The one end that is connected with 3.3V, R1 one end is connected with light emitting diode D1 anode, and the negative electrode of D1 is connected with GND.The pin 1 of U3 is connected with GND, and U3 pin 2 is connected with 5V power supply, and U3 pin 3 is connected with GND, and U3 pin 4 produces 3.3V voltage.Polar capacitor C19 is connected in parallel between the pin 2 and pin 3 of U4, and the pin 2 of U4 is connected with 3.3V, and U4 pin 3 is connected with GND, and U4 pin 1 is connected with U4 pin 2.Polar capacitor C20 is connected in parallel between the pin 4 and pin 3 of U4, and the pin 4 of U4 produces 1.2V voltage.C21 is connected in parallel between 1.2V and GND, and the pin 5 of R3 one end and U4 is connected, and the other end is connected with pin 4, and R4 is connected in parallel between U4 pin 5 and U4 pin 3.
In conjunction with Fig. 4, Fig. 4 is the schematic diagram of data acquisition module of the present invention.The system of considering is for the requirement of picking rate, and in native system, U9 is that analog to digital converter AD7888 and U11 are 3V voltage reference chip REF5030.C10 one end connects the pin 3 of U8, and one end connects U8 pin 4 and U8 pin 13, and U8 pin 3 is connected with analog power AVCC, and U8 pin 4 and U8 pin 13 are connected with AGND in analog.C8 one end is connected with AGND in analog, and one end is connected with U8 pin 2.R10 one end is connected with U8 pin 2, and one end of the other end and R20 is connected.The R20 other end is connected with U11 pin 6.One end of R30 one end and R10 is connected, and the other end is connected with analog power AVCC.U8 pin 5 is connected with the pin 16 of analog input amount interface analog input, U8 pin 6 is connected with the pin 15 of analog input amount interface analog input, U8 pin 7 is connected with the pin 14 of analog input amount interface analog input, U8 pin 8 is connected with the pin 13 of analog input amount interface analog input, U8 pin 9 is connected with the pin 12 of analog input amount interface analog input, U8 pin 10 is connected with the pin 11 of analog input amount interface analoginput, U8 pin 11 is connected with the pin 10 of analog input amount interface analog input, U8 pin 12 is connected with the pin 9 of analog input amount interface analog input.U8 pin 1 is sheet choosing, and U8 pin 14 is data input pin, and U8 pin 15 is data output end, and U8 pin 16 is serial clock interface.R11, R12, R13, R14, R15, R16, R17, R18 one end are all connected with AGND in analog, and the other end is connected with pin 1, pin 2, pin 3, pin 4, pin 5, pin 6, pin 7, the pin 8 of analog input amount interface analog input respectively.The pin 2 of C6 one end and U11 is connected, and the other end is connected with U11 pin 4.U11 pin 2 is connected with 3.3V, and U11 pin 4 is connected with AGND in analog.The pin 5 of C7 one end and U11 is connected, and the other end is connected with AGND in analog.The pin 6 of C9 one end and U11 is connected, and the other end is connected with AGND in analog.The pin 1 of U11, pin 3, pin 7 and pin 8 are unsettled.U11 pin 6 produces the voltage of benchmark 3.0V.FB one end is connected with AGND in analog, and the other end is connected with GND digitally.Analog power input interface Analog power pin 1 is connected with analog power AVCC, the pin 3 of analog power input interface Analog power, pin 5, pin 7, pin 9, pin 11, pin 13, pin 15, pin 17, pin 19 are all connected with 3.3V power supply, and the pin 2 of analog power input interface Analog power, pin 4, pin 6, pin 8, pin 10, pin 12, pin 14, pin 16, pin 18, pin 20 are all connected with AGND in analog.
In conjunction with Fig. 5, Fig. 5 is the schematic diagram of motor drive module in the present invention.U9 is that motor drive ic L6207.CA1 one end other end that is connected with U9 pin 4 is connected with GNDL.RA1 is connected in parallel between the pin 4 and GND of U9.RESENSEA1 one end other end that is connected with U9 pin 3 is connected with POWERGNDL.U9 pin 6 is connected with GNDL with pin 7.The pin 9 of CB1 one end and U9 is connected, and the other end is connected with GNDL.R1 is connected in parallel between U9 pin 9 and GNDL.RESENSEB1 one end other end that is connected with U9 pin 10 is connected with POWERGNDL.One end of CREFA1 is connected with the pin of U9 24, and one end is connected with GNDL.The pin 23 of RENA1 one end and U9 is connected, one end of the other end and RENB1, and one end of RENB1 is connected with the pin of U9 14.The pin 22 of Cp1 one end and U9 is connected, and the other end is connected with Rp1.The other end of Rp1 and the negative electrode of D1.1 connect together, and the anode of D1.1 is connected with VSS.The pin 17 of U9 is connected with pin 20.CBOOT1 is connected in parallel between the pin 20 and pin 15 of U9.The negative electrode of D1.2 is connected with the pin of U9 15, and the anode of D1.2 is connected with the negative electrode of D1.1.C1.1 and C1.2 are connected in parallel between the pin 20 and POWERGNDL of U9.The pin 18 of U9 connects together and is connected with GNDL with pin 19.CENB1 is connected in parallel between the pin 14 and GNDL of U9.CREBF1 is connected in parallel between the pin 13 and GNDL of U9.
Claims (4)
1. modularization high precision machines person joint controller, comprise: data operation processing module, power module, clock and reseting module, data memory module, data acquisition module, motor drive module, angular transducer RDC506, it is characterized in that: data acquisition module comprises modulus conversion chip AD7888 and reference voltage chip REF5030, reference voltage chip REF5030 is connected with modulus conversion chip AD7888, and modulus conversion chip AD7888 is connected with data operation processing module; Data operation processing module comprises dsp chip and fpga chip, and dsp chip is connected with fpga chip; Data memory module comprises that FLASH storer AM29LV800 and synchronous dynamic follow access memory XCS3400A, and FLASH storer AM29LV800 follows access memory XCS3400A with synchronous dynamic and is connected with data operation processing module respectively; Motor drive module comprises motor drive ic L6207 and photo-coupler TLP115, and motor drive ic L6207 is connected with data operation processing module by photo-coupler TLP115; Power module comprises power supply TPS75733 and power supply LT1746, and power supply TPS75733 is connected with data acquisition module with data operation processing module respectively, and power supply LT1746 is connected with data operation processing module; Clock and reseting module comprise reset chip IMP811, and reset chip IMP811 is connected with data operation processing module; Angular transducer RDC506 and the modulus conversion chip AD7888 of data acquisition module link.
2. modularization high precision machines person joint controller according to claim 1, it is characterized in that: described power module also comprises power supply DC5V, the pin 2 of power supply TPS75733 connects the pin 2 of power supply DC5V, the pin 1 of power supply DC5V meets digitally (GND), the pin 1 of power supply TPS75733 meets digitally (GND), and be connected to the first electric capacity (C11) between the pin 1 of power supply TPS75733 and pin 2, the second resistance (R5) one end is connected with the pin 5 of power supply TPS75733, the second resistance (R5) other end is connected with 3.3V voltage, the second electric capacity (C13) and the first polar capacitor (C12) are connected in parallel on 3.3V voltage and digitally between (GND), the first resistance (R1) one end is connected with the pin 4 of power supply TPS75733, the other end of the first resistance (R1) is connected with the anode of light emitting diode (D1), the negative electrode of light emitting diode (D1) is connected with digitally (GND), the pin 4 output 3.3V voltages of power supply TPS75733, the pin 1 of power supply LT1746, pin 2 are connected with 3.3V voltage, the pin 3 of power supply LT1746 is connected with digitally (GND), between the pin 2 of power supply LT1746 and pin 3, be connected with the second polar capacitor (C19), the 3rd electric capacity (C21) and the 3rd polar capacitor (C20) are connected in parallel between the pin 4 and pin 3 of power supply LT1746, the 3rd resistance (R3) is connected between the pin 4 and pin 5 of power supply LT1746, the 4th resistance (R4) is connected between the pin 5 and pin 3 of power supply LT1746, the pin 4 output 1.2V voltages of power supply LT1746.
3. modularization high precision machines person joint controller according to claim 1, it is characterized in that: the pin 4 of the modulus conversion chip AD7888 in described data acquisition module is connected with pin 13 and is all connected with (AGND) in analog, the pin 3 of modulus conversion chip AD7888, between pin 4, be connected with the 4th electric capacity (C10), the pin 3 of modulus conversion chip AD7888 is connected with analog power (AVCC), the pin 2 of modulus conversion chip AD7888 and be connected with in analog the 5th electric capacity (C8) between (AGND), the 5th resistance (R10) one end connects the pin 2 of modulus conversion chip AD7888, the 5th resistance (R10) other end and the 6th resistance (R20), one end of the 7th resistance (R30) is connected, the other end of the 6th resistance (R20) is connected with the pin 6 of reference voltage chip REF5030, the other end of the 7th resistance (R30) is connected with analog power (AVCC), the pin 1 of modulus conversion chip AD7888 is sheet choosing, pin 14 is data input pin, pin 15 is data output end, pin 16 is serial clock interface, the pin 5 of modulus conversion chip AD7888 is connected with the pin 16 of analog input interface, the pin 6 of modulus conversion chip AD7888 is connected with the pin 15 of analog input interface, the pin 7 of modulus conversion chip AD7888 is connected with the pin 14 of analog input interface, the pin 8 of modulus conversion chip AD7888 is connected with the pin 13 of analog input interface, the pin 9 of modulus conversion chip AD7888 is connected with the pin 12 of analog input interface, the pin 10 of modulus conversion chip AD7888 is connected with the pin 11 of analog input interface, the pin 11 of modulus conversion chip AD7888 is connected with the pin 10 of analog input interface, the pin 12 of modulus conversion chip AD7888 is connected with the pin 9 of analog input interface, the 8th resistance (R11), the 9th resistance (R12), the tenth resistance (R13), the 11 resistance (R14), the 12 resistance (R15), the 13 resistance (R16), the 14 resistance (R17), one end of the 15 resistance (R18) respectively with the pin 1 of analog input interface, pin 2, pin 3, pin 4, pin 5, pin 6, pin 7, pin 8 is connected, the 8th resistance (R11), the 9th resistance (R12), the tenth resistance (R13), the 11 resistance (R14), the 12 resistance (R15), the 13 resistance (R16), the 14 resistance (R17), the other end of the 15 resistance (R18) is all connected with (AGND) in analog, the pin 2 of reference voltage chip REF5030 is connected with 3.3V voltage, pin 4 is connected with (AGND) in analog, the 6th electric capacity (C6) is connected between the pin 2 and pin 4 of reference voltage chip REF5030, the 7th electric capacity (C7) is connected to the pin 5 of reference voltage chip REF5030 and in analog between (AGND), the 8th electric capacity (C9) is connected to the pin 6 of reference voltage chip REF5030 and in analog between (AGND), the pin 6 output 3.0V voltages of REF5030, at (AGND) in analog be digitally connected with magnetic bead (FB) between (GND), analog power input interface pin 1 is connected with analog power (AVCC), the pin 3 of analog power input interface, pin 5, pin 7, pin 9, pin 11, pin 13, pin 15, pin 17, pin 19 are all connected with 3.3V power supply, and the pin 2 of analog power input interface, pin 4, pin 6, pin 8, pin 10, pin 12, pin 14, pin 16, pin 18, pin 20 are all connected with (AGND) in analog.
4. modularization high precision machines person joint controller according to claim 1, it is characterized in that: between the pin 4 of the motor drive ic L6207 of described motor drive module and ground (GNDL), chain is connected to the 9th electric capacity (CA1), the 16 resistance (RA1) is in parallel with the 9th electric capacity (CA1), the 17 resistance (RSENSEA1) is connected to the pin 3 of motor drive ic L6207 and power supply between (POWERGNDL), the pin 6 of motor drive ic L6207 is connected with pin 7, and be all connected with ground (GNDL), the tenth electric capacity (CB1) is connected between the pin 9 and ground (GNDL) of motor drive ic L6207, the 18 resistance (R40) is in parallel with the tenth electric capacity (CB1), the 19 resistance (RSENSEB1) is connected to the pin 10 of motor drive ic L6207 and power supply between (POWERCNDL), the 11 electric capacity (CREFA1) is connected between the pin 24 and ground (GNDL) of motor drive ic L6207, the 20 resistance (RENA1) one end is connected with the pin 23 of motor drive ic L6207, one section of the other end and the 21 resistance (RENB1) is connected, the 21 other end of resistance (RENB1) and the pin 14 of motor drive ic L6207 are connected, the 12 electric capacity (CENA1) one end is connected with motor drive ic L6207 pin 23, the other end is connected with ground GNDL, the pin 24 of motor drive ic L6207, pin 13 is connected, the pin 20 of motor drive ic L6207, pin 17 is connected, the 13 electric capacity (CBOOT1) is connected between the pin 15 and pin 20 of motor drive ic L6207, the 14 electric capacity (Cp1) one end is connected with motor drive ic L6207 pin 22, the other end is connected with the one end of 22 resistance (Rp1), the other end of 22 resistance (Rp1) is connected with the negative electrode of the first diode (D1.1), the anode of the first diode (D1.1) is connected with motor drive ic L6207 pin 20, motor drive ic L6207 pin 20 is connected with power cathode (VSS), the anode of the second diode (D1.2) is connected with the negative electrode of the first diode (D1.1), the negative electrode of the second diode (D1.2) is connected with motor drive ic L6207 pin 15, the 15 electric capacity (C1.1) is connected to motor drive ic L6207 pin 20 and power supply between (POWERGNDL), the 16 electric capacity (C1.2) is in parallel with the 15 electric capacity (C1.1), the pin 18 of motor drive ic L6207, pin 19 is connected, motor drive ic L6207 pin 18 is connected with ground (GNDL), the 16 electric capacity (CENB1) is connected between motor drive ic L6207 pin 14 and ground (GNDL), the 17 electric capacity (CREFB1) is connected between motor drive ic L6207 pin 13 and ground (GNDL).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310697619.8A CN103699036B (en) | 2013-12-18 | 2013-12-18 | Modularity high precision machines person joint's controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310697619.8A CN103699036B (en) | 2013-12-18 | 2013-12-18 | Modularity high precision machines person joint's controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103699036A true CN103699036A (en) | 2014-04-02 |
| CN103699036B CN103699036B (en) | 2016-11-23 |
Family
ID=50360603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310697619.8A Expired - Fee Related CN103699036B (en) | 2013-12-18 | 2013-12-18 | Modularity high precision machines person joint's controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103699036B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354134A (en) * | 2011-09-02 | 2012-02-15 | 北京邮电大学 | FPGA-based modularization double-joint servo control system |
| CN102360190A (en) * | 2011-08-18 | 2012-02-22 | 广东工业大学 | Humanoid robot control system |
| CN202622807U (en) * | 2012-02-10 | 2012-12-26 | 广州数控设备有限公司 | Modularization robot control device based on GSK-Link bus |
| EP2557463A1 (en) * | 2011-08-09 | 2013-02-13 | dSPACE digital signal processing and control engineering GmbH | Method for processing data in an influencing device |
| CN202878317U (en) * | 2012-09-29 | 2013-04-17 | 上海交通大学 | Multi-freedom-degree industrial robot motion controller |
-
2013
- 2013-12-18 CN CN201310697619.8A patent/CN103699036B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2557463A1 (en) * | 2011-08-09 | 2013-02-13 | dSPACE digital signal processing and control engineering GmbH | Method for processing data in an influencing device |
| CN102360190A (en) * | 2011-08-18 | 2012-02-22 | 广东工业大学 | Humanoid robot control system |
| CN102354134A (en) * | 2011-09-02 | 2012-02-15 | 北京邮电大学 | FPGA-based modularization double-joint servo control system |
| CN202622807U (en) * | 2012-02-10 | 2012-12-26 | 广州数控设备有限公司 | Modularization robot control device based on GSK-Link bus |
| CN202878317U (en) * | 2012-09-29 | 2013-04-17 | 上海交通大学 | Multi-freedom-degree industrial robot motion controller |
Non-Patent Citations (1)
| Title |
|---|
| 陈禹希: "基于DSP和FPGA的六自由度工业机器人运动控制系统设计", 《中国优秀硕士学位论文全文数据库信息科技辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103699036B (en) | 2016-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206732997U (en) | Organ removing manipulator, arm | |
| WO2017000514A1 (en) | Synchronous printing and dyeing control system for dsp- and fpga-based embedded controller | |
| CN203455827U (en) | Multi-channel data acquisition system applied to industrial production | |
| CN101729002A (en) | SOPC-based remote monitoring system of no-position sensor brushless DC motor | |
| CN106945023A (en) | Organ removing manipulator, arm and method | |
| CN102591359B (en) | Solar tracking controller | |
| CN101183784A (en) | Intelligent electric actuator with overload protection function | |
| CN206224181U (en) | A kind of multiple-axis servo drive system position feedback data interface card based on FPGA | |
| CN205945574U (en) | DC BRUSH MOTOR driver | |
| CN203032929U (en) | Digital steering engine controller capable of detecting counter electromotive force | |
| CN103699036A (en) | Modularized high-precision robot joint controller | |
| CN203119841U (en) | Full-digital AC servo driver | |
| CN203909627U (en) | Rotary inverted pendulum based on model design | |
| CN109634204A (en) | A kind of automatic control system for multifunctional material testing | |
| CN102722174B (en) | AGV (Automatic Guided Vehicle) control system based on bus control mode | |
| CN204772564U (en) | Imitative people's manipulator electric control system | |
| CN203658796U (en) | Multi-axis movement control system development platform | |
| CN204967679U (en) | DC servo motor control system based on DSP | |
| CN203224742U (en) | Dual-core single-shaft high-speed soldering robot servo control system based on image acquisition | |
| CN202661892U (en) | Synchronous speed controller | |
| CN102642209B (en) | Seven-degree of freedom force feedback hand controller measurement and control system | |
| CN206960025U (en) | A kind of measurement apparatus of Kiwi berry harvesting grasping force | |
| CN201760878U (en) | Mobile robot | |
| CN204013300U (en) | DC permanent magnet globular motor control device | |
| CN203261279U (en) | Control device of a direct-current permanent-magnet spherical motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161123 Termination date: 20211218 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |