CN105856244B - A kind of five core high speed articulated robot control systems of heavy duty wireless transmission - Google Patents
A kind of five core high speed articulated robot control systems of heavy duty wireless transmission Download PDFInfo
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- CN105856244B CN105856244B CN201610412014.3A CN201610412014A CN105856244B CN 105856244 B CN105856244 B CN 105856244B CN 201610412014 A CN201610412014 A CN 201610412014A CN 105856244 B CN105856244 B CN 105856244B
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- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 4
- 210000000707 wrist Anatomy 0.000 claims description 41
- 210000000245 forearm Anatomy 0.000 claims description 27
- 230000003028 elevating effect Effects 0.000 claims description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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Abstract
The invention discloses a kind of five core high speed articulated robot control systems of heavy duty wireless transmission, the control system includes main website control computer and controller, the controller includes dsp chip controller, voice recognition processor, PLC controller, programmable logic chip controller, image capture module, wireless transport module and ARM controller, dsp chip controller and ARM controller control computer communication connection with main website, dsp chip controller, voice recognition processor and ARM controller are communicatively connected to each other, four rare-earth permanent-magnetic synchronous servo motors are communicated to connect with dsp chip controller, multiple avoidance displacement sensors, alignment sensor, gyroscope, acceleration transducer is communicated to connect with dsp chip controller and ARM controller.Heavy duty five core high speed articulated robot control system calculating speeds of wireless transmission of the invention are fast, and turning to robot arm, flexible, motion stability is accurate, is convenient for wireless monitor.
Description
Technical field
The present invention relates to a kind of five core high speed articulated robot control systems of heavy duty wireless transmission, belong to assembling work
Four articulated robot arm application fields.
Background technique
In the industrial production, industrial robot can replace the mankind do some comparisons it is dull, relatively frequently and repetitive rate compared with
High long working, or in operations dangerous, under adverse circumstances, be typically used as moving to take part and assembly work, in micro- electricity
It is widely answered in the fields such as sub- manufacturing industry, plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry
With it is for improving production automation level, labor productivity and economic benefit, guaranteeing product quality, guarantee personal safety, change
Kind work situation reduces labor intensity, save material consumption and reduction production cost etc. are of great significance to.
SCARA industrial robot, that is, assembling work robot arm is a kind of industrial robot of circular cylindrical coordinate type, it
The quick positioning in X-Y plane is realized by rotary joint large arm and forearm, by a wrist linear joint and a hand
Wrist rotary joint does flexible and rotary motion in z-direction, and for tool there are four freedom of motion, the manipulator of the series is dynamic at it
The four direction for making space has finite stiffness, and has infinitely great rigidity on remaining other two direction.This structure
Characteristic is good at SCARA robot from some crawl object, is then quickly placed to another point, therefore SCARA robot
It is widely used on production line for automatically assembling.SCARA robot architecture is compact, flexible movements, and speed is fast, position is smart
Degree is high, its use substantially increases robot to the adaptability of Complex Assembly task, while also reducing cost, improves work
Make space utilization rate.
SCARA articulated robot wants the moment to judge the location parameter of master controller input during transporting goods, and sentences
Environment moment avoidance around disconnected, then by motion controller repetitive control, its accurate acceleration and deceleration are transported goods,
Deviation accumulation slightly is possible to cause transport to fail in the movement of more bouts.Although use of the country to SCARA robot
There are a decades, but since domestic industry robot develops starting than later, is influenced by more key technology, SCARA machine
Man-based development is also by being influenced, and traditional robot principle during long-time service as shown in Figure 1, great number of issues occur：
（1）When SCARA robot carries out zero position playback or when robot resets, relies on and manually estimate
Mode, so that the zero position setting of robot is wrong.
（2）Although permanent-magnet DC servo motor increases compared with direct current generator, stepper motor function, common permanent magnetism is straight
Flow servo motor is to have brush configuration, because spark being generated in motor operation, especially in high speed there are collector ring charcoal brush configuration
Serious ring fire will be generated, radio interference is generated, is not suitable for high speed rotation, is not suitable for the SCARA machine for applying to run with load
Device people.
（3）Permanent-magnet DC servo motor is to have brush configuration, directly contact and high speed relative motion between collector ring and carbon brush,
This mechanical structure to generate biggish mechanical noise with the presence of mechanical friction, so that the noise pollution of SCARA robot increases
Greatly.
（4）Although DC permanent-magnetic brushless servo motor is compared with stepper motor, direct current generator and DC servo motor performance
It improves, but its load capacity is relatively weak, is unable to satisfy heavily loaded SCARA robot system requirement.
（5）When robot an emergency situation is encountered need to stop either stop after to start completed by key, machine
The degree of intelligence of people is not high.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of heavy duty wireless transmission five core high speed articulated robots controls
System, the heavy duty five core high speed articulated robot control system calculating speeds of wireless transmission are fast, turn to articulated robot arm
Flexibly, motion stability is accurate, bearing capacity is big, and performance is stablized, and is convenient for wireless monitor, and the degree of intelligence of robot is high.
In order to solve the above technical problems, the technical solution adopted by the present invention is that：It is high to provide a kind of five cores of heavy duty wireless transmission
Fast articulated robot control system, the articulated robot is using rare-earth permanent-magnetic synchronous servo motor X driving robot's arm rotation
Transhipment is dynamic, robot forearm rotary motion is driven using rare-earth permanent-magnetic synchronous servo motor Y, using rare-earth permanent-magnetic synchronous servo electricity
Machine Z drives robot wrist's rotary motion, drives robot wrist's elevating movement, institute using rare-earth permanent-magnetic synchronous servo motor R
It states and avoidance displacement sensor S1, avoidance displacement sensor S2, gyroscope and acceleration transducer A1 is installed on robot's arm,
Avoidance displacement sensor S3, avoidance displacement sensor S4, gyroscope and acceleration transducer are installed on the robot forearm
A2 is equipped with alignment sensor S5, gyroscope and acceleration transducer A3, the control system packet on the robot wrist
It includes main website control computer and controller, the controller includes dsp chip controller, PlC controller, programmable logic chip
Controller, voice recognition processor, image capture module, wireless transport module and ARM controller, described image acquisition module with
It is communicated to connect between wireless transport module, the dsp chip controller, programmable logic chip controller, voice recognition processing
Device and PlC controller control computer communication connection, the dsp chip controller, programmable logic chip with the main website
Controller, voice recognition processor and ARM controller are communicatively connected to each other, the wireless transport module and ARM controller communication
Connection, the PlC controller and ARM controller communicate to connect, the rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous
Servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z and rare-earth permanent-magnetic synchronous servo motor R are logical with the dsp chip controller
Letter connection, the avoidance displacement sensor S1, avoidance displacement sensor S2, avoidance displacement sensor S3, avoidance displacement sensor
S4, alignment sensor S5, each gyroscope, acceleration transducer A1, acceleration transducer A2 and acceleration transducer A3 are simultaneously
It is communicated to connect with the dsp chip controller and ARM controller.
It in a preferred embodiment of the present invention, further include providing the master of power supply for the articulated robot and control system
Power supply and backup power source, the controller in each motor and sensor and control system in the articulated robot are equal
It is electrically connected with the main power source and/or backup power source.
In a preferred embodiment of the present invention, the rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo electricity
It is even on machine Y, rare-earth permanent-magnetic synchronous servo motor Z and rare-earth permanent-magnetic synchronous servo motor R to be provided with photoelectric encoder, the photoelectricity
Encoder and the dsp chip controller are electrically connected.
In a preferred embodiment of the present invention, described image acquisition module is CCD camera component.
In a preferred embodiment of the present invention, decoding chip is provided in described image acquisition module.
In a preferred embodiment of the present invention, magnetoelectric transducer EM1, the machine are installed on the robot's arm
Magnetoelectric transducer EM2 is installed on people's forearm, magnetoelectric transducer EM3 and EM4, the magnetoelectricity are installed on the robot wrist
Sensor EM1, magnetoelectric transducer EM2, magnetoelectric transducer EM3 and EM4 are logical with the dsp chip controller and ARM controller
Letter connection.
The beneficial effects of the invention are as follows：Heavy duty five core high speed articulated robot control systems of wireless transmission of the invention calculate
Speed is fast, and turning to articulated robot arm, flexible, motion stability is accurate, bearing capacity is big, and performance is stablized, and is convenient for wireless monitor,
The degree of intelligence of robot is high, and the addition of wireless transmitting system allows main website to understand working result in real time, while main website can
To change SCARA robot task in real time according to actual needs at any time.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is tradition SCARA robot controller schematic diagram；
Fig. 2 is based on four axis rare-earth permanent-magnetic synchronous servo motor SCARA robot two-dimensional structure figures；
Fig. 3 is three Close loop servo control schematic diagrams inside programmable logic chip controller；
Fig. 4 is based on five core, four axis rare-earth permanent-magnetic synchronous servo motor SCARA robot controller schematic diagram；
Fig. 5 is based on five core, four axis rare-earth permanent-magnetic synchronous servo motor SCARA robot program's block diagram；
Fig. 6 is based on five core, four axis rare-earth permanent-magnetic synchronous servo motor motion principle figure；
Fig. 7 is four spindle motor acceleration and deceleration curves figures；
Fig. 8 is heavy duty five core high speed articulated robot control system architecture schematic diagrams of wireless transmission of the invention.
The components in the drawings are labeled as follows：1, main website control computer, 2, controller, 3, dsp chip controller, 4,
ARM controller, 5, main power source, 6, backup power source, 7, rare-earth permanent-magnetic synchronous servo motor X, 8, rare-earth permanent-magnetic synchronous servo motor
Y, 9, rare-earth permanent-magnetic synchronous servo motor Z, 10, rare-earth permanent-magnetic synchronous servo motor R, 11, photoelectric encoder, 12, avoidance displacement
Sensor S1,13, avoidance displacement sensor S2,14, avoidance displacement sensor S3,15, avoidance displacement sensor S4,16, positioning
Sensor S5,17, acceleration transducer A1,18, acceleration transducer A2,19, acceleration transducer A3,20, PLC controller,
21, magnetoelectric transducer EM1,22, magnetoelectric transducer EM2,23, magnetoelectric transducer EM3,24, magnetoelectric transducer EM4,25, wireless biography
Defeated module, 26, image capture module, 27, decoding chip, 28, voice recognition processor, 29, gyroscope, 30, programmable logic
Chip controller.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Fig. 2 to Fig. 8 is please referred to, the embodiment of the present invention includes：A kind of five core high speed articulated robot controls of heavy duty wireless transmission
System processed, SCARA robot of the machine artificially based on four axis rare-earth permanent-magnetic synchronous servo motors, i.e., the described articulated robot are adopted
It is driven with rare-earth permanent-magnetic synchronous servo motor X7 driving robot's arm rotary motion, using rare-earth permanent-magnetic synchronous servo motor Y8
Robot forearm rotary motion drives robot wrist's rotary motion using rare-earth permanent-magnetic synchronous servo motor Z9, using rare earth
Permanent magnet synchronous servo motor R10 drives robot wrist's elevating movement, is equipped with avoidance displacement sensing on the robot's arm
Device S1 12, avoidance displacement sensor S2 13, gyroscope 29 and acceleration transducer A1 17 are installed on the robot forearm
There are avoidance displacement sensor S3 14, avoidance displacement sensor S4 15, gyroscope 29 and acceleration transducer A2 18, the machine
Alignment sensor S5 16, gyroscope 29 and acceleration transducer A3 19 are installed in device human wrist.
The control system includes main website control computer 1 and controller 2, and the controller 2 is controlled including dsp chip
Device 3, voice recognition processor 28, programmable logic chip controller 30, PlC controller 20, image capture module 26, wireless biography
Defeated module 25 and ARM controller 4, communicate to connect between described image acquisition module 26 and wireless transport module 25, the DSP core
Piece controller 3, programmable logic chip controller 30, voice recognition processor 28 and PlC controller 20 with the main website control
Computer 1 processed communicates to connect, the dsp chip controller 3, programmable logic chip controller 30, voice recognition processor 28
Communicatively connected to each other with ARM controller 4, the wireless transport module 25 and ARM controller 4 communicate to connect, the PlC controller
20 communicate to connect with ARM controller 4, are provided with decoding chip 27 in described image acquisition module 26.
The rare-earth permanent-magnetic synchronous servo motor X7, rare-earth permanent-magnetic synchronous servo motor Y8, rare-earth permanent-magnetic synchronous servo electricity
Machine Z9 and rare-earth permanent-magnetic synchronous servo motor R10 is communicated to connect with the dsp chip controller 3, the avoidance displacement sensing
Device S1 12, avoidance displacement sensor S2 13, avoidance displacement sensor S3 14, avoidance displacement sensor S4 15, orientation sensing
Device S5 16, gyroscope 29, acceleration transducer A1 17, acceleration transducer A2 18 and acceleration transducer A3 19 are simultaneously
It is communicated to connect with the dsp chip controller 3, PLC controller 20 and ARM controller 4.
Preferably, heavy duty five core high speed articulated robot control systems of wireless transmission of the invention further include for the joint
Robot and control system provide the main power source 5 and backup power source 6 of power supply, each motor in the articulated robot and
Controller 2 in sensor and control system is electrically connected with the main power source 5 and/or backup power source 6.
Preferably, the rare-earth permanent-magnetic synchronous servo motor X 7, rare-earth permanent-magnetic synchronous servo motor Y 8, rare earth permanent magnet are same
It is even on step servo motor Z 9 and rare-earth permanent-magnetic synchronous servo motor R10 to be provided with photoelectric encoder 11, the photoelectric encoder 11
It is electrically connected with the dsp chip controller 3.
Preferably, magnetoelectric transducer EM1 21 is installed on the robot's arm, is equipped on the robot forearm
Magnetoelectric transducer EM2 22 is equipped with magnetoelectric transducer EM3 23 and EM4 24, the magnetic-electric sensing on the robot wrist
Device EM1 21, magnetoelectric transducer EM2 22, magnetoelectric transducer EM3 23 and EM4 24 with the dsp chip controller 3 and ARM
Controller 4 communicates to connect.These magnetoelectric transducers read respective zero position mark respectively, detect signal when four
When, SCARA robot realizes accurate reset, improves the accuracy of reset.
The present invention uses dsp controller 3（TMS320F2812）+ PLC controller 20+ voice recognition processor 28（It is chip-shaped
Number LD3320）+ programmable logic chip controller 30（That is CPLD controller）+ ARM controller 4（STM32F746）Five cores carry out
System control.Under power-on state, ARM controller first dynamically edits the key words list of LD3320, increases robot
Phonetic recognization rate, then to robot backup power source SOC（State-of-charge）Judged with main power source, if stand-by power source compared with
Low, controller will issue alarm signal to master station by wireless device；If backup power source and main power source are working properly, first by
Large arm of transporting goods, forearm and wrist are rotated angle by PLC controller or based on LD3320 speech recognition system by master station
And the information inputs such as adjustable height are calculated the parameter queue of robot servo system by ARM to ARM；SCARA robot takes
Zero position sensor EM1, EM2, EM3, EM4 of band and image capturing system based on CCD are started to work, and robot is reset to
Zero position is set, robot enters self-locking state；After carrying command starts, the obstacle avoidance sensor of robot carrying, positioning
Sensor and acceleration transducer are opened, SCARA robot according to setting optimization transport path fast removal, CPLD according to
Servo parameter and sensor feedback adjust SCARA robot rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo in real time
The PWM of motor Y, rare-earth permanent-magnetic synchronous servo motor Z and rare-earth permanent-magnetic synchronous servo motor R output, realize four rare earth permanent magnets
The real-time servo of synchronous servo motor controls, and CCD camera real-time detection is carried as a result, ARM is to the processing of digital picture and deposits
It stores up and is transmitted by wireless system, main website control computer 1 is detected automatically by image comparison technology carries result；If ARM
It has a question, will be communicated with DSP to some position is carried, DSP forbids CPLD to work, and the PWM of four axis SCARA robots controls letter
Number be blocked, robot original place is self-locking, and then main website is judged by image comparison information is carried, confirm it is errorless after pass through
Wireless device restarting SCARA robot continues unfinished task；In robot kinematics, if encountering urgent feelings
Condition, main website will communicate after speech recognition device LD3320 identification with ARM by microphone apparatus to controller input control order,
It is communicated after having ARM processing with DSP, DSP is converted into main website order by CPLD the control of each rare-earth permanent-magnetic synchronous servo motor
Signal processed.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, Fig. 5, Fig. 6, Fig. 7, specific function are realized as follows：
1）After SCARA robot power supply is opened, in order to improve robot voice recognition effect, misrecognition is further decreased
Rate, ARM controller is first to the common number order of LD3320 input SCARA robot and instruction, for absorbing wrong identification, from
And achieve the purpose that reduce LD3320 false recognition rate.
2）ARM first judges backup power source SOC and main power source state, if backup power source SOC is lower, DSP will
Forbid four rare-earth permanent-magnetic synchronous servo motor work, motor input PWM wave is blocked, while alarm sensor is concurrent by work
Alarm signal out；If battery SOC is normal, SCARA robot enters to working condition, waits work order.
3）Once master station's work order starts, master station be can choose based on the either PLC control of LD3320 speech recognition system
Device processed and ARM are communicated, any one controller can be passed to the information such as the length of large arm, forearm lengths and elevating lever
ARM controller, then robot starts to correct zero position, magnetoelectric transducer EM1, EM2, EM3, EM4 that SCARA robot carries
Start to work with the image capturing system based on CCD, and respectively find the zero position mark of setting, when magnetoelectric transducer EM1,
When EM2, EM3 and EM4 have signal output, ARM acquires image by wireless system real-time Transmission CCD, and master station passes through image pair
It after determining that position is errorless than technology, is communicated by wireless device and DSP, DSP blocks four road rare-earth permanent-magnetic synchronous by CPLD and watches
The PWM wave control signal of motor is taken, SCARA robot guides zero position to reset automatically and completes, and ARM and dsp controller are set at this time
Fixed each rotation angle, wrist lifting height。
4）In order to meet the acceleration and deceleration needs of SCARA robot, the present invention uses the run duration ladder diagram such as Fig. 7, this
The area that ladder diagram includes is exactly the height of robot's arm, forearm and the wrist angle to be rotated either wrist lifting, is
Facilitate control, the present invention uses single acceleration model.
5）SCARA robot reads its operating mode, and if it is manual working mode, main website begins through PLC either
Speech recognition system and ARM controller based on LD3320 communicate, by main website input SCARA robot's arm, forearm and wrist
The angle for needing to rotate,,And SCARA robot wrist needs to rise the height of either declineIt is controlled to ARM
Device, ARM controller start robot forward direction according to Denavit-Hartenberg algorithm and solve：ARM controller basis first
SCARA robot's arm, forearm and wrist need the angle rotated,,And SCARA robot wrist needs to rise
HeightCalculate the position auto―control between adjacent two member coordinates,,,And with 4*4 two-dimemsional number
Group mark,,,,It respectively indicates as follows：
,,
,。
Then pass through formulaPosition after wrist actuator completion task can be found out and
Posture, then ARM and DSP is communicated, and transmits and parameter is manually entered.
6）SCARA robot reads its operating mode, and if it is normal automatic transporting operating mode, main website is begun through
PLC either speech recognition system based on LD3320 and ARM controller communicates, by main website input SCARA robot's arm, small
Initial position locating for arm and wrist and given position three-dimensional coordinate are to ARM controller, and ARM controller is according to Denavit-
It is Converse solved that Hartenberg algorithm starts robot：ARM controller is first according to large arm, forearm lengths and final three-dimensional
X and Y coordinates in coordinate find out the angle that large arm needs to rotate, and byValue find outValue, and according to three-dimensional sit
Z coordinate in mark finds out wrist rising or reduced height, finally find out rotation angle, due to solvingWhen
Equation have it is bilingual, so the angle that SCARA robot finds out large arm, forearm and wrist need to rotate,,And
SCARA robot wrist needs the height risenAfterwards, ARM controller can optimize solving result, and then ARM is controlled
Device and DSP are communicated, and most have servo motion parameter to be transferred to dsp controller in robot.
7）Dsp controller receives the angle that SCARA robot's arm, forearm and wrist need to rotate,,And
SCARA robot wrist needs the height risenAfterwards, sensor S1 ~ S5 in large arm, forearm and wrist, EM1, EM2 and
EM3 will be opened, and SCARA robot wants zero setting position to be judged first, after confirmation initial position is errorless, SCARA robot pair
Barrier in each rotating arm rotation angle is judged that such as there is barrier will issue interrupt requests to DSP, and DSP can be right
Interruption is done to be responded at the first time, and then DSP forbids CPLD to work, and four axis rare-earth permanent-magnetic synchronous servo motor PWM waves control signal
It is blocked, SCARA robot forbids rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare earth permanent magnet same
Servo motor Z and motor rare-earth permanent-magnetic synchronous servo motor R work is walked, robot original place is self-locking, the Image Acquisition system based on CCD
System is opened, and issues interrupt requests to master station by wireless device after ARM processing, and information is judged by accident in order to prevent, and master station passes through wireless
The obstacle information in the secondary judgement motion range of image is transmitted, barrier is artificially handled by master station, prevents barrier influence from removing
Transport work.
8）If master station is secondary to determine that clear enters moving region by image taking results, wireless device will be passed through
It is communicated with DSP, according to the speed time curve of Fig. 7, DSP is three rotation angles,,It is converted into three rare earth permanent magnets
Acceleration, speed and the position initial order value of synchronous servo motor, then DSP and CPLD is communicated, CPLD combination motor X, electricity
Machine Y and motor Z current feedback, the feedback of acceleration transducer, gyroscope and photoelectric encoder adjust journey through servo inside CPLD
The PWM wave that sequence generates motor X, motor Y and motor Z controls signal, drives each motor movement through drive axle.CPLD controller is logical
The number of drive pulses for crossing adjustment rare-earth permanent-magnetic synchronous servo motor adjusts it and rotates angle, watches by adjusting rare-earth permanent-magnetic synchronous
The frequency for taking motor control signal realizes the variation of angular speed speed, and the deviation size that CPLD is inputted according to three closed loops adjusts in real time
The pid parameter of internal SERVO CONTROL program makes three axis rare-earth permanent-magnetic synchronous servo motor timing synchronizations work, and the DSP moment records
The location parameter that robot has moved.
9）In SCARA robot moving process, sensor S1 ~ S4 moment carries out the moving obstacle in motion range
Judgement, if there is barrier enters motion range, DSP pass through immediately CPLD make large arm, forearm and the wrist of SCARA robot by
It stops immediately according to the retarded motion curve of Fig. 7, dsp controller records present rotation angel degree,,Information, main website pass through
Wireless device inputs the rotation angle of new position to DSP,,, then DSP controls CPLD according to the curve movement weight of Fig. 7
Newly pass through three sections of motion profiles：Accelerated motion, uniform motion and retarded motion, eventually arrive at set point.
10）In moving process, large arm, forearm and the angle of wrist rotation that the DSP moment records accelerometer feedback accelerate
Degree, and the rotation angle of large arm, forearm and wrist is obtained by quadratic integral, and compared with the position angle angle value of setting, such as
Fruit deviation is greater than setting threshold values, this deviation is converted into three the new acceleration of rare-earth permanent-magnetic synchronous servo motor, speed by DSP
Degree and position initial order value, in next sampling period, DSP and CPLD are communicated, CPLD combination motor X, motor Y and motor Z
Current of electric feedback, the feedback of acceleration transducer, gyroscope and photoelectric encoder adjust Program Generating through servo inside CPLD
The PWM wave of motor X, motor Y and motor Z control signal, drive each motor movement through drive axle.CPLD controller is closed according to three
The deviation size of ring input adjusts the pid parameter of internal SERVO CONTROL program in real time, and CPLD controller is by adjusting rare earth permanent magnet
The number of drive pulses of synchronous servo motor adjusts it and rotates angle, by adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal
Frequency realize the variation of angular speed speed, and then eliminated the error that upper sampling period generates, make SCARA robot according to
It sets track and completes task.
11）In SCARA robot kinematics, DSP can store passed through the location of SCARA robot at the moment
The reference point either passed through, and next reference point SCARA robot relatively is calculated by DSP according to these range informations
Rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z to be run respectively
Angle, angle rates and angular acceleration, CPLD combination motor X, motor Y and motor Z current feedback, acceleration transducer, gyro
The feedback of instrument and photoelectric encoder, the PWM wave for adjusting Program Generating motor X, motor Y and motor Z through servo inside CPLD control
Signal drives each motor movement through drive axle.The deviation size that CPLD controller is inputted according to three closed loops adjusts inside in real time
The pid parameter of SERVO CONTROL program, CPLD adjust its rotation by adjusting the number of drive pulses of rare-earth permanent-magnetic synchronous servo motor
Gyration realizes the variation of angular speed speed by adjusting the frequency of rare-earth permanent-magnetic synchronous Serve Motor Control signal, makes SCARA
Robot quickly moves ahead according to setting speed.
12）In SCARA robot kinematics, ARM and the real-time recorder National People's Congress arm of DSP, forearm and wrist rotation
Angle, if master station discovery the robot speed of service it is slower, can by LD3320 speech recognition system to ARM input accelerate
Order communicates after ARM processing with DSP, and CPLD is required according to the acceleration time, remaining angle is converted into rare-earth permanent-magnetic synchronous and is watched
Take angle, the angle rates that motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z to be run respectively
It is instructed with angular acceleration, CPLD controller is in conjunction with current of electric feedback, acceleration transducer, gyroscope and photoelectric encoder
Feedback is based on according to its internal three closed loopVector controlled servo programe readjust three rare-earth permanent-magnetic synchronous servos
The pwm control signal signal of motor, makes robot that task be rapidly completed.
13）In SCARA robot kinematics, ARM and the real-time recorder National People's Congress arm of DSP, forearm and wrist rotation
Angle, if master station discovery robot need emergency service, can by LD3320 speech recognition system to ARM input stop
Order communicates after ARM processing with DSP, and CPLD requires according to down time, in conjunction with current of electric feedback, acceleration transducer,
The feedback of gyroscope and photoelectric encoder is based on according to its internal three closed loopVector controlled servo programe readjust
The pwm control signal signal of three rare-earth permanent-magnetic synchronous servo motors, makes robot quickly complete parking, and dsp controller passes through
Acceleration and the angle of the real-time recorder people rotation of gyro sensor and storage.Main website is finished by image comparison detection
Afterwards, start command is inputted to ARM by LD3320 speech recognition system, is communicated after ARM processing with DSP, when CPLD is according to accelerating
Between require, remaining angle is converted into rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare earth permanent magnet
Angle, angle rates and the angular acceleration instruction that synchronous servo motor Z to be run respectively, CPLD controller is in conjunction with current of electric
The feedback of feedback, acceleration transducer, gyroscope and photoelectric encoder is based on according to its internal three closed loopVector control
Servo programe processed readjusts the pwm control signal signal of three rare-earth permanent-magnetic synchronous servo motors, and robot is rapidly completed
Remaining task.
14）Three axis, which are completed, in SCARA robot rotates angle,,SERVO CONTROL after, DSP secondary detection accelerate
The integrated value for spending sensor, if it find that SCARA robot is in motion process by three rotation angles after external interference,
,When error with set angle is more than setting threshold values, ccd image acquisition system acquires in real time carries information, after ARM is handled
Image transmitting request is issued to master station by wireless device, carrying detects as a result, DSP handle by image comparison technology automatically in master station
Three rotation angular deviations,,Be converted into three rare-earth permanent-magnetic synchronous servo motor fine positions acceleration,
Speed and position initial order value, then DSP and CPLD is communicated, and CPLD combination motor X, motor Y and motor Z current feedback add
The feedback of velocity sensor, gyroscope and photoelectric encoder adjusts Program Generating motor X, motor Y and electricity through servo inside CPLD
The PWM wave of machine Z controls signal, drives each motor movement through drive axle.CPLD controller is big according to the deviation that three closed loops input
The pid parameter of SERVO CONTROL program inside small real-time adjustment, CPLD controller is by adjusting rare-earth permanent-magnetic synchronous servo motor
Number of drive pulses adjusts it and rotates angle, realizes angle speed by adjusting the frequency of rare-earth permanent-magnetic synchronous Serve Motor Control signal
The variation for spending speed, arrives robot's arm, forearm and wrist by the task again of three axis rare-earth permanent-magnetic synchronous servo motors
Up to setting position.
15）When the large arm of SCARA robot, forearm and wrist complete angle,,Angle compensation reach setting
Behind position, the sensor EM4 in wrist will be again turned on, and SCARA robot wants zero setting position to be judged first, and confirmation is initial
After position is errorless, speed time curve of the DSP according to Fig. 7, the distance that wrist is gone up and downRare-earth permanent-magnetic synchronous is converted into watch
Acceleration, speed and the position initial order value of motor R are taken, then DSP and CPLD is communicated, CPLD combination motor R current feedback,
The feedback of acceleration transducer, gyroscope and photoelectric encoder adjusts the PWM wave of Program Generating motor R through servo inside CPLD
Signal is controlled, is moved through drive axle driving motor R.The deviation size that CPLD controller is inputted according to three closed loops adjusts inside in real time
The pid parameter of SERVO CONTROL program, CPLD controller by adjusting rare-earth permanent-magnetic synchronous servo motor number of drive pulses tune
Whole its rotates angle, and the variation of angular speed speed is realized by adjusting the frequency of rare-earth permanent-magnetic synchronous Serve Motor Control signal,
Wrist is set steadily to reach setting position within the set time.
16）During the motion if the discovery location parameter solution of SCARA robot occurs during endless loop will issue to ARM
Disconnected request, ARM can do interruption to be responded at the first time, and ARM controller will be communicated with DSP immediately, and DSP is blocked by CPLD immediately
The control signal of four rare-earth permanent-magnetic synchronous servo motors, robot original place is self-locking, and ARM controller passes through wireless device and main website
It being communicated, the CCD moment acquires peripheral information and by wireless transmission, and main website analyzes Image Acquisition information, and according to
The secondary restarting SCARA robot of collection result, by PLC controller either LD3320 speech recognition system it is secondary to
Information is carried in the input of SCARA robot.
17）In SCARA robot repeatedly repeatedly in motion process, if main website discovery has interim vital task to need to be added
In work queue, main website will open LD3320 controller, be communicated by main website by LD3320 controller and ARM, input weight to ARM
The position servo parameter of task is wanted, ARM and DSP are communicated, and complete currently outstanding task by DSP first, while ARM updates
The original servo control parameter queue of DSP, and new servo position parameter is transmitted to DSP, make the next servo motion of DSP
Important temporary duty is completed in control.
18）In SCARA robot repeatedly repeatedly in motion process, if when magnetoelectric transducer EM1, EM2, EM3 and EM4 are read
When to transducing signal, dsp controller will replace existing location parameter carry out new position servo control with zero position parameter, and
Error is calculated, in next sampling period, DSP passes through three closed loop rare-earth permanent-magnetic synchronous Serve Motor Control programs inside CPLD
Error is compensated, eliminates cumulative errors in time.
19）In SCARA robot handling process, main website can carry out automatically analyzing comparison to the acquisition image based on CCD,
A certain position such as find the problem there are when problem, main website first passes through wireless device and DSP is communicated, and DSP controls CPLD completion first
Current task is simultaneously stopped in setting zero position, detects carrying automatically by main website as a result, updating after automatic detection by ARM
The next servo-controlled location parameter of DSP is realized the SERVO CONTROL of new position by DSP control CPLD.
20）Mounted in rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo electricity
Photoelectric encoder on machine Z, rare-earth permanent-magnetic synchronous servo motor R can export its position signal A and position signal B and pulse Z, light
The position signal A pulse of photoelectric coder and the every variation of B pulsed logic state are primary, and the location register in DSP and ARM can basis
The traffic direction of motor adds 1 either to subtract 1；The position signal A pulse and B pulse and Z pulse of photoelectric encoder are simultaneously low electricity
Usually, it just generates an INDEX signal and gives DSP and ARM internal register, record the absolute position of rare-earth permanent-magnetic synchronous servo motor
It sets, is then convert into SCARA robot's arm, forearm either specific location of the wrist in three-dimensional coordinate system, ARM control
Device passes through PLC in real time and main website communicates, and important location parameter is transferred to main website.When magnetoelectric transducer EM1, EM2 and EM3 are read
When to transducing signal, dsp controller will replace existing location parameter with zero position parameter, eliminate cumulative errors in time.
21）SCARA robot is monitored AC ac main power at the operational process ARM controller moment, if control
When device finds main power source failure power-off suddenly, ARM can be communicated with DSP, and open backup power source, be four axis by backup power source
Rare-earth permanent-magnetic synchronous servo motor provides energy, and DSP adjusts program by servo inside CPLD and adjusts four rare earth permanent magnets in real time
The PWM of synchronous servo motor is exported, and dsp controller adjusts by adjusting the number of drive pulses of rare-earth permanent-magnetic synchronous servo motor
It rotates angle, and the variation of angular speed speed is realized by adjusting the frequency of rare-earth permanent-magnetic synchronous Serve Motor Control signal, is made
SCARA robot complete it is current carry task, then SCARA robot is communicated by PLC and main website, and notify main website into
Row maintenance.
22）In the SCARA robot Multi-asis servo system course of work, if DSP servo controller detects some
The torque of rare-earth permanent-magnetic synchronous servo motor is pulsed, due to the present invention usingVector control mode, therefore
Controller can be easy to compensate this interference, and adjust internal three Close loop servo control programs in real time according to interference size CPLD
Pid parameter reduces influence of the motor torque disturbance to SCARA robot kinematics.
20）When SCARA robot completes task, realizes position zero, the acceleration transducer A1 ~ A3, the top that carry
Spiral shell instrument 30, magnetoelectric transducer EM1, EM2, EM3, EM4 and Image Acquisition are that system can work at the moment, when acceleration and speed are more than
When preset threshold, magnetic-electric sensing can be worked as by a cycle bring error in CPLD amendment in next cycle dsp controller
When device EM1, EM2, EM3, EM4 have signal output, ccd image acquisition system acquires repositioning information in real time, leads to after ARM is handled
It crosses wireless device and issues image transmitting request to master station, after master station is automatically reset by image comparison technology as a result, determination is errorless,
DSP controls signal by the PWM wave that CPLD blocks four road rare-earth permanent-magnetic synchronous servo motors, and SCARA robot guides zero automatically
Position, which resets, completes, and SCARA robot realizes the playback from certain point to zero-bit according to the Velocity-time curve movement of Fig. 7, so
Zero-bit is self-locking afterwards, waits next group carrying command.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (2)
1. a kind of five core high speed articulated robot control systems of heavy duty wireless transmission, which is characterized in that the articulated robot is adopted
With rare-earth permanent-magnetic synchronous servo motor X driving robot's arm rotary motion, using rare-earth permanent-magnetic synchronous servo motor Y driving machine
The rotary motion of device people's forearm drives robot wrist's rotary motion using rare-earth permanent-magnetic synchronous servo motor Z, using rare earth permanent magnet
Synchronous servo motor R drives robot wrist's elevating movement, is equipped with avoidance displacement sensor S1 on the robot's arm, keeps away
Hinder displacement sensor S2, gyroscope and acceleration transducer A1, be equipped on the robot forearm avoidance displacement sensor S3,
Avoidance displacement sensor S4, gyroscope and acceleration transducer A2 are equipped with alignment sensor S5, top on the robot wrist
Spiral shell instrument and acceleration transducer A3, the control system includes main website control computer and controller, the controller include
It is dsp chip controller, PlC controller, programmable logic chip controller, voice recognition processor, image capture module, wireless
Transmission module and ARM controller communicate to connect between described image acquisition module and wireless transport module, the dsp chip control
Device, programmable logic chip controller, voice recognition processor and PlC controller processed control computer with the main website and communicate
Connection, the dsp chip controller, programmable logic chip controller, voice recognition processor and ARM controller communicate with one another
Connection, the wireless transport module and ARM controller communication connection, the PlC controller and ARM controller communicate to connect, institute
State rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z and rare earth permanent magnet
Synchronous servo motor R is communicated to connect with the dsp chip controller, the avoidance displacement sensor S1, avoidance displacement sensing
Device S2, avoidance displacement sensor S3, avoidance displacement sensor S4, alignment sensor S5, each gyroscope, acceleration transducer A1,
Acceleration transducer A2 and acceleration transducer A3 is communicated to connect with the dsp chip controller and ARM controller simultaneously, institute
State rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z and rare earth permanent magnet
Even on synchronous servo motor R to be provided with photoelectric encoder, the photoelectric encoder and the dsp chip controller are electrically connected,
Described image acquisition module is CCD camera component, is provided with decoding chip, the machine National People's Congress in described image acquisition module
Magnetoelectric transducer EM1 is installed on arm, magnetoelectric transducer EM2 is installed on the robot forearm, on the robot wrist
Magnetoelectric transducer EM3 and EM4 are installed, the magnetoelectric transducer EM1, magnetoelectric transducer EM2, magnetoelectric transducer EM3 and EM4 are equal
It is communicated to connect with the dsp chip controller and ARM controller.
2. five core high speed articulated robot control systems of heavy duty wireless transmission according to claim 1, which is characterized in that also
It is each in the articulated robot including providing the main power source and backup power source of power supply for the articulated robot and control system
Controller in a motor and sensor and control system is electrically connected with the main power source and/or backup power source.
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| CN112146686B (en) * | 2019-06-27 | 2022-07-15 | 西安诺瓦星云科技股份有限公司 | Rotation information acquisition method, device and system and computer readable storage medium |
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