CN105922270A - Wireless transmission trinuclear rapid joint robot control system for teaching - Google Patents
Wireless transmission trinuclear rapid joint robot control system for teaching Download PDFInfo
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- CN105922270A CN105922270A CN201610409059.5A CN201610409059A CN105922270A CN 105922270 A CN105922270 A CN 105922270A CN 201610409059 A CN201610409059 A CN 201610409059A CN 105922270 A CN105922270 A CN 105922270A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims description 39
- 210000000707 wrist Anatomy 0.000 claims description 32
- 210000000245 forearm Anatomy 0.000 claims description 20
- 230000003028 elevating effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 18
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Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Abstract
The invention discloses a wireless transmission trinuclear rapid joint robot control system for teaching. The control system comprises a master station controlled computer and a controller, wherein the controller comprises a DSP chip controller, an integrated chip processor, an image capture module, a wireless transmission module and an ARM controller; the DSP chip controller and the ARM controller are in communication connection with the master station controlled computer; the DSP chip controller, the image capture module and the wireless transmission module are in communication connection with the ARM controller; four permanent magnet DC servo motors are in communication connection with the DSP chip controller; a plurality of obstacle avoidance displacement sensors, a positioning sensor and an acceleration sensor are in communication connection with the DSP chip controller and the ARM controller. The wireless transmission trinuclear rapid joint robot control system for teaching is high in computation speed, small in size and stable in performance, and enables the arms of a joint robot to steer flexibly and the action of the joint robot to be stable and accurate.
Description
Technical field
The present invention relates to a kind of teaching with being wirelessly transferred three core quick articulated robot control system, belong to assembling work
Four articulated robot arm applications.
Background technology
In the industrial production, industrial robot can substitute for the mankind do that some are more dull, the most frequently and repetitive rate relatively
High long working, or the operation under danger, adverse circumstances, be typically used as moving to take part and assembly work, at micro-electricity
The fields such as sub-manufacturing industry, plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry obtain widely should
With, it is for improving production automation level, labor productivity and economic benefit, guarantee product quality, guaranteeing personal safety, change
Kind work situation, reduces labor intensity, save material consumption and reduce production cost etc. and have highly important meaning.
The SCARA industrial robot i.e. robot arm of assembling work is the industrial robot of a kind of circular cylindrical coordinate type, it
Rely on rotary joint large arm and forearm to realize the quick location in X-Y plane, rely on a wrist linear joint and a hand
Wrist rotary joint does flexible and rotary motion in z-direction, and it has four freedoms of motion, and the manipulator of this series moves at it
The four direction making space has finite stiffness, and has infinitely great rigidity on remaining other two direction.This structure
Characteristic makes SCARA robot be good at and captures object from a bit, is the most quickly placed to another point, therefore SCARA robot
Production line for automatically assembling is widely used.SCARA robot architecture is compact, flexible movements, and speed is fast, position is smart
Degree height, its use substantially increases the robot adaptability to Complex Assembly task, also reduces cost simultaneously, improve work
Make space availability ratio.
SCARA robot combines multi-subject knowledge, for promote the manipulative ability of students, team collaboration's ability and
Innovation ability, the digestion promoting student classroom knowledge and the scope of one's knowledge extending student are the most helpful.SCARA machine is used in teaching
People's technology carry out the talent that can cultivate large quantities of association area, and then promote that the technology development of association area and industrialization are entered
Journey.But SCARA robot to judge the location parameter that master controller inputs during transporting goods the moment, and judges around
Environment moment avoidance, then by motion controller repetitive control, it accelerates accurately and deceleration is transported goods, somewhat
Deviation accumulation is possible to cause transporting unsuccessfully in many bouts move.Although the domestic use to SCARA robot has tens
Year, but owing to domestic industry robot development starting ratio is later, being affected by more key technology, SCARA robot is sent out
Exhibition is also affected by institute, and traditional robot principle is as it is shown in figure 1, there is great number of issues during Long-Time Service:
(1) in SCARA robot multiple-axis servo control system, control system based on single-chip microcomputer or DSP is required for compiling
Write servo control software so that system development cycle is longer, and greatly reduce the arithmetic speed of system, and program can be moved
Plant ability poor.
(2) in most of the cases, accumulation over time, can there is certain site error in carrying, rely on and manually draw
The method leading zero position, not only accuracy is the highest, nor the beneficially work such as high density carrying.
(3) in SCARA high-volume handling process, carrying error and quality problems happen occasionally, if do not asked similar
Topic checks out, can leave hidden danger for later motion process.At present for the detection of SCARA work, rely primarily on artificial mesh
The methods of inspection such as survey realize, and this does not only exist the drawbacks such as subjective factor impact big, labour intensity height, inefficiency, and mesh exists
In short time, artificial high-volume inspection SCARA working result is the most unrealistic.
(4) in SCARA high-volume carrying produces, sometimes having important temporary duty and add, common SCARA is often
Complete by the way of shutdown, cause inefficient.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of teaching with being wirelessly transferred the quick articulated robot control of three core
System processed, this teaching calculates speed soon with being wirelessly transferred three core quick articulated robot control system, makes articulated robot arm
Turn to flexibly, having stable behavior accurately, compact, stable system performance, antijamming capability is strong, can be with remote-wireless monitoring equipment
Device people operates.
For solving above-mentioned technical problem, the technical solution used in the present invention is: provide one teaching with being wirelessly transferred three cores
Quickly articulated robot control system, described articulated robot uses permanent-magnet DC servo motor X driven machine people's large arm to rotate
Motion, employing permanent-magnet DC servo motor Y driven machine people's forearm rotary motion, employing permanent-magnet DC servo motor Z drive machine
Device human wrist rotary motion, employing permanent-magnet DC servo motor R driven machine human wrist elevating movement, on described robot's arm
Avoidance displacement transducer S1, avoidance displacement transducer S2 and acceleration transducer A1 are installed, described robot forearm is installed
Having avoidance displacement transducer S3, avoidance displacement transducer S4 and acceleration transducer A2, it is fixed that described robot wrist is provided with
Level sensor S5 and acceleration transducer A3, described control system includes that main website controls computer and controller, described control
Device includes dsp chip controller, integrated chip processor, image capture module, wireless transport module and ARM controller, described
Communicate to connect between image capture module and wireless transport module, described dsp chip controller, integrated chip processor, wireless
Transport module and ARM controller all control compunication with described main website and are connected, described dsp chip controller, integrated chip
Processor, wireless transport module and ARM controller communicate to connect each other, described permanent-magnet DC servo motor X, DC
Servomotor Y, permanent-magnet DC servo motor Z and permanent-magnet DC servo motor R all communicate to connect with described integrated chip processor,
Described avoidance displacement transducer S1, avoidance displacement transducer S2, avoidance displacement transducer S3, avoidance displacement transducer S4, location
Sensor S5, acceleration transducer A1, acceleration transducer A2 and acceleration transducer A3 control with described dsp chip all simultaneously
Device, integrated chip processor and ARM controller communication connection.
In a preferred embodiment of the present invention, also include the master that power supply is provided for described articulated robot and control system
Controller in power supply and stand-by power supply, each described motor in described articulated robot and sensor and control system is equal
It is electrically connected with described main power source and/or stand-by power supply.
In a preferred embodiment of the present invention, described permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent magnetism
The even photoelectric encoder that is provided with on DC servo motor Z and permanent-magnet DC servo motor R, described photoelectric encoder is integrated with described
Chip processor is electrically connected with.
In a preferred embodiment of the present invention, described image capture module is CCD camera assembly.
In a preferred embodiment of the present invention, in described image capture module, it is provided with decoding chip.
The invention has the beneficial effects as follows: the teaching of the present invention is with being wirelessly transferred three core quick articulated robot control system meter
Calculation speed is fast, makes articulated robot arm turn to flexibly, having stable behavior is accurate, compact, stable performance, antijamming capability
By force, can operate with remote-wireless supervisory-controlled robot.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing, wherein:
Fig. 1 is tradition SCARA robot controller schematic diagram；
Fig. 2 is based on four axle permanent-magnet DC servo motor SCARA robot two-dimensional structure figures；
Fig. 3 is dsp controller and integrated chip processor connection diagram；
Fig. 4 is based on three core four axle permanent-magnet DC servo motor SCARA robot controller schematic diagrams；
Fig. 5 is based on three core four axle permanent-magnet DC servo motor SCARA robot program's block diagrams；
Fig. 6 is based on three core four axle permanent-magnet DC servo motor motion principle figures；
Fig. 7 is four spindle motor acceleration and deceleration curves figures；
Fig. 8 is that the teaching of the present invention is with being wirelessly transferred three core quick articulated robot Control system architecture schematic diagram.
In accompanying drawing, the mark of each parts is as follows: 1, main website controls computer, 2, controller, 3, dsp chip controller, 4,
ARM controller, 5, main power source, 6, stand-by power supply, 7, permanent-magnet DC servo motor X, 8, permanent-magnet DC servo motor Y, 9, permanent magnetism
DC servo motor Z, 10, permanent-magnet DC servo motor R, 11, photoelectric encoder, 12, avoidance displacement transducer S1,13, avoidance
Displacement transducer S2,14, avoidance displacement transducer S3,15, avoidance displacement transducer S4,16, alignment sensor S5,17, accelerate
Degree sensors A 1,18, acceleration transducer A2,19, acceleration transducer A3,20, wireless transport module, 21, IMAQ mould
Block, 22, decoding chip, 23, integrated chip processor.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement
Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common
All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection
Enclose.
Referring to Fig. 2 to Fig. 8, the embodiment of the present invention includes: a kind of teaching is with being wirelessly transferred the three quick articulated robots of core
Control system, this machine artificially SCARA robots based on four axle permanent-magnet DC servo motors, the most described articulated robot uses
Permanent-magnet DC servo motor X7 driven machine people's large arm rotary motion, employing permanent-magnet DC servo motor Y8 driven machine people's forearm
Rotary motion, employing permanent-magnet DC servo motor Z9 driven machine human wrist rotary motion, employing permanent-magnet DC servo motor R10
Driven machine human wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1 12, avoidance displacement sensing
Device S2 13 and acceleration transducer A1 17, described robot forearm is provided with avoidance displacement transducer S3 14, avoidance displacement
Sensor S4 15 and acceleration transducer A2 18, described robot wrist is provided with alignment sensor S5 16 and acceleration
Sensors A 3 19.
Described control system includes that main website controls computer 1 and controller 2, and described controller 2 includes dsp chip control
Device 3, integrated chip processor 23, image capture module 21, wireless transport module 20 and ARM controller 4, described IMAQ mould
Communicate to connect between block 21 and wireless transport module 20, described dsp chip controller 3, integrated chip processor, be wirelessly transferred mould
Block 20 and ARM controller 4 all control computer 1 with described main website and communicate to connect, at described dsp chip controller 3, integrated chip
Reason device 23, wireless transport module 20 and ARM controller 4 communicate to connect each other.Described permanent-magnet DC servo motor X7, permanent magnetism
DC servo motor Y8, permanent-magnet DC servo motor Z9 and permanent-magnet DC servo motor R10 all lead to integrated chip processor 23
Letter connects, described avoidance displacement transducer S1 12, avoidance displacement transducer S2 13, avoidance displacement transducer S3 14, avoidance position
Displacement sensor S4 15, alignment sensor S5 16, acceleration transducer A1 17, acceleration transducer A2 18 and acceleration sensing
Device A3 19 communicates to connect with described dsp chip controller 3, integrated chip processor 23 and ARM controller 4 all simultaneously.
Preferably, the teaching of the present invention also includes for described pass with being wirelessly transferred three core quick articulated robot control system
Joint robot and control system provide main power source 5 and stand-by power supply 6, each described motor in described articulated robot of power supply
All it is electrically connected with described main power source 5 and/or stand-by power supply 6 with the controller 2 in sensor and control system.
Preferably, described permanent-magnet DC servo motor X 7, permanent-magnet DC servo motor Y 8, permanent-magnet DC servo motor Z
The even photoelectric encoder 11 that is provided with on 9 and permanent-magnet DC servo motor R10, at described photoelectric encoder 11 and described integrated chip
Reason device 23 is electrically connected with.
Preferably, described image capture module 21 is CCD camera assembly, is provided with solution in described image capture module 21
Code chip 22.
CCD is a kind of opto-electronic conversion formula imageing sensor, and it utilizes photoelectricity transformation principle that image information is directly changed into
The signal of telecommunication, it is achieved the electrical measurement of non electrical quantity, it also has that volume is little, lightweight, noise is low simultaneously, self-scanning, operating rate are fast,
The plurality of advantages such as certainty of measurement height, life-span length.In order to process carrying result in time, native system adds figure in real time based on CCD
As gathering and wireless transmitting system.CCD camera output analog signal, is decoded it by decoding chip 22, and becoming can
The data signal of programming, it is simple to ARM to the process of digital picture and storage, then by wireless system and main website carry out communication and
Transmission.
The control system of the present invention uses dsp chip controller 3+ integrated chip processor 23(i.e. LM628 chip, a kind of
The large scale integrated chip (LSI chip) that National Semiconductor produces)+ARM controller 4 three nuclear control device, at power-on state
Under, ARM controller is first to robot stand-by power supply SOC(state-of-charge) and main power source judge, if stand-by power source is relatively low,
Controller will send alarm signal by wireless device to master station；If stand-by power supply and main power source are working properly, first by leading
Control computer 1 of standing inputs to ARM by 20 positional informations of transporting goods of wireless transport module, ARM calculate robot
The parameter of servo-drive system；SCARA robot relies on image capturing system to be automatically led to zero position, and robot is introduced into self-locking shape
State, once main website control computer 1 sends carrying command, avoidance sensor, alignment sensor and the acceleration that robot carries
Sensor is all opened, the transport path fast removal that SCARA robot optimizes according to setting ARM, DSP Yu LM628 communication,
LM628 adjusts SCARA robot permanent-magnet DC servo motor X in real time according to servo parameter and sensor feedback, DC is watched
Take the PWM output of motor Y, permanent-magnet DC servo motor Z and permanent-magnet DC servo motor R, it is achieved four DC servo electricity
The real-time servo of machine controls, and DSP Real-time Collection robot motion's information is also transmitted to master station by wireless device；CCD camera
In real time detection carrying result, ARM to the process of digital picture and storage and is transmitted by wireless system, and main website passes through image comparison
Technology detects carrying result automatically.If ARM has a question to carrying some position, will be made by LM628 with DSP communication, DSP
SCARA robot stop, then carrying information is judged by main website by image comparison, confirm errorless after pass through wireless device
Restarting SCARA robot continues being not fully complete of task；Main website is newly added with ARM communication transfer in real time by wireless device and removes
Cargo transport object location information, by ARM update robot servo's systematic parameter, and with DSP communication.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, Fig. 5, Fig. 6, Fig. 7, its concrete functional realiey is as follows:
1), after SCARA robot power supply is opened, stand-by power supply SOC and main power source can be judged by ARM, if stand-by power supply
When SOC is relatively low, DSP will forbid controlling the LM628 work of four permanent-magnet DC servo motors, motor input PWM wave control signal
Being blocked, alarm sensor sends alarm signal to master station by work and by wireless device simultaneously；If battery SOC is normal,
SCARA robot enters and treats duty, waits work order.
2) main website is passed to ARM controller by wireless device information such as large arm, forearm lengths and elevating lever length,
ARM controller opens ccd image acquisition system, and SCARA robot relies on IMAQ to open LM628 by DSP and automatically guides
SCARA robot is to the zero-bit set of setting work, and SCARA robot sets each anglec of rotation, hand
Wrist lifting height。
3) in order to meet the acceleration and deceleration motion needs of SCARA robot, the present invention uses the run duration such as Fig. 7 trapezoidal
Figure, the area that this ladder diagram comprises is exactly robot's arm, forearm and wrist angle to be rotated or the height of wrist lifting
Degree, controls for convenience, and the present invention uses single acceleration model.
4) wireless device sends motor pattern, and SCARA robot reads its mode of operation by ARM, if artificial work
Operation mode, main website starts and ARM controller communication, main website input SCARA robot's arm, forearm and wrist need rotation
Angle,,And SCARA robot wrist needs to rise or the height of declineTo ARM controller, ARM controls
Device starts robot location according to Denavit-Hartenberg algorithm and attitude forward solves: ARM controller first basis
SCARA robot's arm, forearm and wrist need the angle rotated,,And SCARA robot wrist needs rising
HighlyCalculate the position auto-control between adjacent two member coordinates,,,, and with each personal 4*4 bis-
Dimension group mark,,,,It is expressed as follows respectively:
,,
,。
Then ARM controller passes through formulaJust can obtain wrist actuator and complete task
After position and attitude, and with DSP communication, transmission be manually entered parameter to DSP.
5) wireless device sends motor pattern, and SCARA robot reads its mode of operation, and main website starts and ARM controller
Communication, is controlled to ARM controller, ARM by the initial position residing for input SCARA robot of main website and given position three-dimensional coordinate
It is Converse solved that device starts robot according to Denavit-Hartenberg algorithm: ARM controller is first according to large arm, forearm lengths
And the X and Y coordinates in final three-dimensional coordinate obtain large arm need rotate angle, and byValue obtainValue,
And obtain, according to the Z coordinate in three-dimensional coordinate, the height that wrist rises or reduces, finally obtain the anglec of rotation, owing to asking
SolveWhen equation have bilingual, so SCARA robot obtains large arm, forearm and wrist need the angle that rotates,,And SCARA robot wrist needs the height of risingAfter, solving result can be optimized by ARM controller, then ARM
Controller and DSP communication, most have servo motion parameter to be transferred to dsp controller in robot.
6) dsp controller accepts the angle that SCARA robot's arm, forearm and wrist need to rotate,,And
SCARA robot wrist needs the height risenAfter, the sensor S1 ~ S5 in large arm, forearm and wrist will open, first
Barrier in each turning arm anglec of rotation is judged by SCARA robot, will send interruption to DSP as there is barrier
Request, DSP can be to interrupting doing very first time response, and then DSP forbids four axle LM628 work, four axle permanent-magnet DC servo motors
PWM wave control signal is blocked, and SCARA robot forbids permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent magnetism
DC servo motor Z and motor permanent-magnet DC servo motor R work, robot is self-locking in original place；Then ARM passes through wireless device
Sending interrupt requests to master station, in order to prevent information from judging by accident, master station's secondary judges the obstacle information in range of movement, by master station
Artificially process barrier, prevent barrier impact carrying work.
7) if by image taking results, master station's secondary determines that clear enters moving region, wireless device will be passed through
With DSP communication, movement position is decomposed by dsp controller according to the speed time curve of Fig. 7, and DSP is first three rotations
Angle,,Be converted into the acceleration of three permanent-magnet DC servo motors, speed and position initial order value, then DSP with
LM628 communication, LM628 combines the photoelectric encoder feedback of motor X, motor Y and motor Z, through LM628 internal servo regulation program
Generating motor X, motor Y and the PWM wave control signal of motor Z, PWM wave control signal amplifies each motor of rear drive through drive axle
Motion.Dsp controller adjusts the pid parameter of the internal SERVO CONTROL program of LM628 in real time according to input deviation size, and LM628 is controlled
Device processed adjusts its anglec of rotation by the number of drive pulses adjusting permanent-magnet DC servo motor, by adjusting DC servo
The frequency of motor control signal realizes the change of angular speed speed, makes three axle permanent-magnet DC servo motor timing synchronization work, DSP
The location parameter that moment recorder people has moved, and transmitted to master station in real time by wireless.
8) in SCARA robot moving process, the moving obstacle in range of movement is carried out by sensor S1 ~ S4 moment
Judging, if there being barrier to enter range of movement, DSP makes the large arm of SCARA robot, forearm and wrist by LM628 immediately
Stopping immediately according to the retarded motion curve of Fig. 7, dsp controller records present rotation angel degree,,Information, and pass through
Wireless with main website communication；After disappearing on barrier, main website, by wireless and ARM communication, recalculates the anglec of rotation to new position
Degree,,, then DSP controls LM628 according to the curve movement of Fig. 7 again through three sections of movement locus: accelerated motion, even
Speed motion and retarded motion, eventually arrive at set point.
9) in moving process, the DSP moment records the angle acceleration that the large arm of accelerometer feedback, forearm and wrist rotate
Degree, controller obtains the anglec of rotation of large arm, forearm and wrist by quadratic integral, and compared with the position angle angle value set
Relatively, if deviation is more than setting threshold values, DSP is converted into three the new acceleration of permanent-magnet DC servo motor, speed this deviation
Degree and position initial order value, in the next sampling period, DSP Yu LM628 communication, LM628 combines motor X, motor Y and motor
The feedback of Z motor photoelectric encoder feedback, through LM628 internal servo regulation Program Generating motor X, motor Y and the PWM of motor Z
Wave control signal, PWM wave control signal amplifies each motor movement of rear drive through drive axle.Dsp controller is according to input deviation
Size adjusts the pid parameter of the internal SERVO CONTROL program of LM628 in real time, and LM628 controller is by adjusting DC servo electricity
The number of drive pulses of machine adjusts its anglec of rotation, realizes angle speed by the frequency adjusting permanent-magnet DC servo motor control signal
The change of degree speed, and then eliminate the error of a sampling period generation, make SCARA robot complete to appoint according to setting track
Business.
10) in SCARA robot kinematics, DSP can store in the moment the SCARA robot location of process
Or the reference point of process, and it is calculated relatively next reference point SCARA robot according to these range informations by DSP
Permanent-magnet DC servo motor X, the angle that permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z are to be run, angle speed
Degree and angular acceleration, LM628 combines motor X, motor Y and the feedback of motor Z motor photoelectric encoder feedback, adjusts through internal servo
Joint Program Generating motor X, motor Y and the PWM wave control signal of motor Z, it is each that PWM wave control signal amplifies rear drive through drive axle
Individual motor movement.Dsp controller adjusts the pid parameter of the internal SERVO CONTROL program of LM628 in real time according to input deviation size, logical
The number of drive pulses crossing adjustment permanent-magnet DC servo motor adjusts its anglec of rotation, by adjusting permanent-magnet DC servo motor control
The frequency of signal processed realizes the change of angular speed speed, makes SCARA robot quickly move ahead according to setting speed.
11) the three axle anglecs of rotation are completed in SCARA robot,,SERVO CONTROL after, DSP secondary detection accelerate
The integrated value of degree sensor, if it find that SCARA robot three anglecs of rotation after motion process is by external interference,,When exceeding setting threshold values with the error of set angle, ccd image acquisition system Real-time Collection carrying information, after ARM processes
Sending image transmitting by wireless device to master station to ask, carrying result detects automatically by image comparison technology in master station, if
Being implicitly present in certain error, master station is started and DSP communication by wireless device, and DSP is three anglec of rotation deviations,,Be converted into the acceleration of three permanent-magnet DC servo motor fine position, speed and position initial order value, then DSP with
LM628 communication, LM628 combines motor X, motor Y and the feedback of motor Z motor photoelectric encoder feedback, through the internal servo of LM628
Regulation Program Generating motor X, motor Y and the PWM wave control signal of motor Z, PWM wave control signal amplifies rear drive through drive axle
Each motor movement.Dsp controller adjusts the pid parameter of the internal SERVO CONTROL program of LM628 in real time according to input deviation size,
LM628 controller adjusts its anglec of rotation by the number of drive pulses adjusting permanent-magnet DC servo motor, by adjusting permanent magnetism
The frequency of DC servo motor control signal realizes the change of angular speed speed, by three axle permanent-magnet DC servo motors again
Work makes robot's arm, forearm and wrist arrive setting position.
12) angle is completed when large arm, forearm and the wrist of SCARA robot,,Angle compensation arrive set position
Postponing, DSP is according to the speed time curve of Fig. 7, distance to be lifted for wristIt is converted into adding of permanent-magnet DC servo motor R
Speed, speed and position initial order value, then DSP Yu LM628 communication, LM628 combines the feedback of motor R photoelectric encoder,
Through the PWM wave control signal of internal servo regulation Program Generating motor R, it is each that PWM wave control signal amplifies rear drive through drive axle
Individual motor movement.Dsp controller adjusts the pid parameter of the internal SERVO CONTROL program of LM628 in real time according to input deviation size,
Dsp controller adjusts its anglec of rotation by the number of drive pulses adjusting permanent-magnet DC servo motor, straight by adjusting permanent magnetism
The frequency of flow servo motor control signal realizes the change of angular speed speed, makes wrist steadily arrive within the setting time and sets position
Put.
13) if SCARA robot finds that location parameter solves and occurs that endless loop will be in ARM sends in motion process
Disconnected request, ARM can to interrupting doing very first time response, ARM controller will immediately with DSP communication, DSP is sealed by LM628 immediately
The control signal of four permanent-magnet DC servo motors of lock, then robot original place self-locking, ARM controller passes through wireless device and master
Station carries out communication, and the CCD moment gathers peripheral information and by being wirelessly transferred, and IMAQ information is analyzed by main website, and root
Restart SCARA robot according to collection result secondary, re-enter carrying letter by wireless device secondary to SCARA robot
Breath.
14) permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z, DC it are contained in
Photoelectric encoder on servomotor R can export its position signalling A and position signalling B, the position signalling A pulse of photoelectric encoder
Often changing once with B pulsed logic state, the location register in DSP can add 1 according to the traffic direction of motor or subtract 1；
When the position signalling A pulse of photoelectric encoder and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal and give
DSP internal register, record permanent-magnet DC servo motor absolute position, be then convert into SCARA robot's arm, forearm or
Person is wrist particular location in three-dimensional coordinate system, and DSP sends data transmission information to master station in real time by wireless device.
15) AC ac main power is monitored by SCARA robot in the running ARM controller moment, if controlled
Device find main power source break down unexpected power-off time, ARM with DSP communication, and can open stand-by power supply, stand-by power supply be four axles
Permanent-magnet DC servo motor provides energy, and DSP adjusts four DC servos in real time by LM628 internal servo regulation program
The PWM output of motor, LM628 controller adjusts its anglec of rotation by the number of drive pulses adjusting permanent-magnet DC servo motor
Degree, is realized the change of angular speed speed, makes SCARA robot complete by the frequency adjusting permanent-magnet DC servo motor control signal
Becoming task of carrying specifically, then DSP control LM628 blocks the pwm control signal of four road permanent-magnet DC servo motors, and robot is former
Ground self-locking；SCARA robot carries out communication with main website by wireless by ARM, and notice main website overhauls.
16) in SCARA robot in handling process, if main website has new task to input, main website first passes through without traditional thread binding
Put and ARM communication transmit new task, ARM controller calculate the SERVO CONTROL location parameter made new advances and with DSP communication,
First DSP completes current task, and updates next servo-controlled location parameter.
17) in SCARA robot in handling process, it is right that collection image based on CCD can be automatically analyzed by main website
Ratio, when having problems such as a certain position of pinpointing the problems, main website first passes through wireless device and DSP communication, and DSP first passes through LM628
Complete current task and stop setting zero position, having main website automatically to detect carrying result, automatically after detection by ARM more
The next servo-controlled location parameter of new DSP.
18) in the SCARA robot Multi-asis servo system course of work, if DSP servo controller detects some
There is pulsation in the torque of permanent-magnet DC servo motor, the permanent-magnet DC servo motor moment used due to the present invention and current of electric
In direct ratio, therefore controller can be easy to compensate this interference, and adjusts the PID within LM628 in real time according to interference size DSP
Parameter, decreases the motor torque disturbance impact on SCARA robot kinematics.
19) task is completed when SCARA robot, it is achieved during the zero of position, during the acceleration transducer A1 that it carries ~ A3 meeting
Carve and detect its acceleration, when acceleration exceedes pre-set threshold value, can be revised by LM628 at next cycle dsp controller
The error that one cycle brings, is simultaneously based on ccd image acquisition system real-time working, and guided robot homing guidance is to machine
People sets zero position, and SCARA robot realizes the playback from certain point to zero-bit according to the Velocity-time curve movement of Fig. 7, so
Rear zero-bit self-locking, waits next carrying command.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology neck
Territory, is the most in like manner included in the scope of patent protection of the present invention.
Claims (5)
1. a teaching is with being wirelessly transferred three core quick articulated robot control system, it is characterised in that described articulated robot
Use permanent-magnet DC servo motor X driven machine people's large arm rotary motion, use permanent-magnet DC servo motor Y driven machine people little
Arm rotary motion, employing permanent-magnet DC servo motor Z driven machine human wrist rotary motion, employing permanent-magnet DC servo motor R
Driven machine human wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1, avoidance displacement transducer
S2 and acceleration transducer A1, described robot forearm is provided with avoidance displacement transducer S3, avoidance displacement transducer S4 and
Acceleration transducer A2, described robot wrist is provided with alignment sensor S5 and acceleration transducer A3, described control
System includes that main website controls computer and controller, and described controller includes dsp chip controller, integrated chip processor, figure
As acquisition module, wireless transport module and ARM controller, communication link between described image capture module and wireless transport module
Connecing, described dsp chip controller, wireless transport module and ARM controller all control compunication with described main website and are connected, institute
State dsp chip controller, integrated chip processor, wireless transport module and ARM controller to communicate to connect each other, described forever
Magnetic DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z and permanent-magnet DC servo motor R are all and institute
State the communication connection of integrated chip processor, described avoidance displacement transducer S1, avoidance displacement transducer S2, avoidance displacement transducer
S3, avoidance displacement transducer S4, alignment sensor S5, acceleration transducer A1, acceleration transducer A2 and acceleration transducer
A3 communicates to connect with described dsp chip controller, integrated chip processor and ARM controller all simultaneously.
Teaching the most according to claim 1 is with being wirelessly transferred three core quick articulated robot control system, it is characterised in that
Also include main power source and the stand-by power supply that power supply is provided for described articulated robot and control system, in described articulated robot
Controller in each described motor and sensor and control system all electrically connects with described main power source and/or stand-by power supply
Connect.
Teaching the most according to claim 1 is with being wirelessly transferred three core quick articulated robot control system, it is characterised in that
Described permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z and permanent-magnet DC servo motor R
The upper even photoelectric encoder that is provided with, described photoelectric encoder is electrically connected with described integrated chip processor.
4. according to the teaching described in any one of claims 1 to 3 with being wirelessly transferred three core quick articulated robot control system, its
Being characterised by, described image capture module is CCD camera assembly.
Teaching the most according to claim 4 is with being wirelessly transferred three core quick articulated robot control system, it is characterised in that
It is provided with decoding chip in described image capture module.
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Effective date of registration: 20190508 Address after: 211106 Jiangsu Jiangning Economic and Technological Development Zone, Nanjing City, Jiangsu Province, 19 Suyuan Avenue, Kowloon Lake International Enterprise Headquarters Park, Block C4, 2nd Floor Patentee after: Runtou Intelligent Science and Technology Research Institute Jiangsu Co., Ltd. Address before: 211106 first floor, block C4, Kowloon Lake International Business Park, 19 Jiangning economic and Technological Development Zone, Nanjing, Jiangsu. Patentee before: Jiangsu Ruobo Robot Technology Co., Ltd. |