CN105945957A - Light-load wireless-transmission control system for quad-core fast joint robot - Google Patents
Light-load wireless-transmission control system for quad-core fast joint robot Download PDFInfo
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- 210000000707 wrist Anatomy 0.000 claims description 38
- 230000033001 locomotion Effects 0.000 claims description 36
- 210000000245 forearm Anatomy 0.000 claims description 24
- 230000005611 electricity Effects 0.000 claims description 7
- 230000003028 elevating effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract 1
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- 230000008859 change Effects 0.000 description 9
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- 238000011161 development Methods 0.000 description 2
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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
-
- 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
-
- 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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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a light-load wireless-transmission control system for a quad-core fast joint robot. The control system comprises a master control computer and a controller. The controller comprises a DSP chip controller, an integrated control chip, a PLC, an image acquisition module, a wireless transmission module and an ARM controller. The DSP chip controller and the ARM controller are both in communication connection with the master control computer; the DSP chip controller, the integrated control chip and the ARM controller are in communication connection; four rare-earth permanent magnet brushless direct current servo motors are all in communication connection with the DSP chip controller; and a plurality of obstacle avoidance displacement sensors, positioning sensors and acceleration sensors are all in communication connection with the DSP chip controller and the ARM controller correspondingly. The light-load wireless-transmission control system for the quad-core fast joint robot is high in calculation speed, arms of the joint robot are flexible in steering and are stable and precise in action, and wireless monitoring is convenient.
Description
Technical field
The present invention relates to a kind of underloading and be wirelessly transferred four 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 hands
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 articulated robot to judge the location parameter that master controller inputs during transporting goods the moment, and sentences
Disconnected environment moment avoidance around, then by motion controller repetitive control, it accelerates accurately and deceleration is transported goods,
Deviation accumulation somewhat is possible to cause transporting unsuccessfully in many bouts move.Although the domestic use to SCARA robot
There are decades, but owing to domestic industry robot development starting ratio is later, affected by more key technology, SCARA machine
Man-based development is also affected by institute, and traditional robot principle is as it is shown in figure 1, there is great number of issues during life-time service:
(1) when SCARA robot carries out zero position playback, or when robot resets, the mode of artificial range estimation is relied on,
The zero position making robot sets wrong.
(2) although permanent-magnet DC servo motor relatively direct current generator, motor function increase, but common permanent magnetism is straight
Flow servo motor is for there being brush configuration, because there is collector ring carbon brush structure, produces spark when motor runs, particularly when high speed
Serious ring fire will be produced, produce radio interference, be not suitable for high speed rotating, be not suitable for applying to the SCARA machine of run with load
Device people.
(3) permanent-magnet DC servo motor is for there being brush configuration, directly contacts and high speed relative motion between collector ring and carbon brush,
This frame for movement makes mechanical friction, produces bigger mechanical noise so that the sound pollution of SCARA robot increases
Greatly.
(4) permanent-magnet DC servo motor is for there being brush configuration, needs to regularly replace carbon brush, and motor can only use open-type protective
Form, and brushed DC electric efficiency is low, is not suitable for applying to the SCARA robot of run with load.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of underloading and is wirelessly transferred four core quick articulated robots controls
System, this underloading is wirelessly transferred four core quick articulated robot control system and calculates speed soon, makes articulated robot arm turn to
Flexibly, having stable behavior accurately, compact, stable performance, noise is low, it is simple to wireless monitor.
For solving above-mentioned technical problem, the technical solution used in the present invention is: provide a kind of underloading to be wirelessly transferred four cores fast
Speed articulated robot control system, described articulated robot uses the rare earth permanent magnet brushless DC servomotor X driven machine National People's Congress
Arm rotary motion, use rare earth permanent magnet brushless DC servomotor Y driven machine people's forearm rotary motion, use rare earth permanent magnet without
Brush DC servo motor Z driven machine human wrist rotary motion, employing rare earth permanent magnet brushless DC servomotor R driven machine people
Wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1, avoidance displacement transducer S2 and acceleration
Sensors A 1, described robot forearm is provided with avoidance displacement transducer S3, avoidance displacement transducer S4 and acceleration sensing
Device A2, described robot wrist is provided with alignment sensor S5 and acceleration transducer A3, and described control system includes main
Standing and control computer and controller, described controller includes dsp chip controller, PlC controller, integrating control chip, image
Acquisition module, wireless transport module and ARM controller, communicate to connect between described image capture module and wireless transport module,
Described dsp chip controller, integrating control chip and PlC controller all control compunication with described main website and are connected, described
Dsp chip controller, integrating control chip and ARM controller are communicatively connected to each other, described wireless transport module and ARM controller
Communication connection, described PlC controller communicates to connect with ARM controller, described rare earth permanent magnet brushless DC servomotor X, rare earth
DC permanent-magnetic brushless servomotor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servomotor R are equal
Communicating to connect with described dsp chip controller, described avoidance displacement transducer S1, avoidance displacement transducer S2, avoidance displacement pass
Sensor S3, avoidance displacement transducer S4, alignment sensor S5, acceleration transducer A1, acceleration transducer A2 and acceleration pass
Sensor A3 communicates to connect with described dsp chip controller and ARM controller all simultaneously.
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 rare earth permanent magnet brushless DC servomotor X, rare-earth permanent magnet brushless are straight
Even on flow servo motor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servomotor R it is provided with light
Photoelectric coder, described photoelectric encoder is electrically connected with described dsp chip controller.
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.
In a preferred embodiment of the present invention, described robot's arm is provided with magnetoelectric transducer EM1, described machine
Magnetoelectric transducer EM2 is installed on people's forearm, described robot wrist is provided with magnetoelectric transducer EM3 and EM4, described magnetoelectricity
Sensor EM1, magnetoelectric transducer EM2, magnetoelectric transducer EM3 and EM4 all lead to described dsp chip controller and ARM controller
Letter connects.
The invention has the beneficial effects as follows: the underloading of the present invention is wirelessly transferred four core quick articulated robot control system and calculates
Speed is fast, makes articulated robot arm turn to flexibly, having stable behavior is accurate, compact, stable performance, system rejection to disturbance ability
By force, noise is low, it is simple to wireless monitor, and the addition of wireless transmitting system makes main website can understand working result in real time, leads simultaneously
Stand and can change SCARA robot task the most in real time.
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 rare earth permanent magnet brushless DC servomotor SCARA robot two-dimensional structure figures；
Fig. 3 is dsp controller and integrating control chip connection diagram；
Fig. 4 is based on four core four axle rare earth permanent magnet brushless DC servomotor SCARA robot controller schematic diagrams；
Fig. 5 is based on four core four axle rare earth permanent magnet brushless DC servomotor SCARA robot program's block diagrams；
Fig. 6 is based on four core four axle rare earth permanent magnet brushless DC servomotor motion principle figures；
Fig. 7 is four spindle motor acceleration and deceleration curves figures；
Fig. 8 is that the underloading of the present invention is wirelessly transferred four core quick articulated robot Control system architecture schematic diagram.
In accompanying drawing, the labelling 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, rare earth permanent magnet brushless DC servomotor X, 8, rare earth permanent magnet brushless DC
Servomotor Y, 9, rare earth permanent magnet brushless DC servomotor Z, 10, rare earth permanent magnet brushless DC servomotor R, 11, photoelectricity compiles
Code device, 12, avoidance displacement transducer S1,13, avoidance displacement transducer S2,14, avoidance displacement transducer S3,15, avoidance displacement
Sensor S4,16, alignment sensor S5,17, acceleration transducer A1,18, acceleration transducer A2,19, acceleration transducer
A3,20, PLC, 21, magnetoelectric transducer EM1,22, magnetoelectric transducer EM2,23, magnetoelectric transducer EM3,24, magnetoelectricity passes
Sensor EM4,25, wireless transport module, 26, image capture module, 27, decoding chip, 28, integrating control chip.
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 underloading is wirelessly transferred the quick articulated robot control of four core
System processed, this machine artificially SCARA robots based on four axle rare earth permanent magnet brushless DC servomotors, the most described joint machine
People uses rare earth permanent magnet brushless DC servomotor X7 driven machine people's large arm rotary motion, uses rare earth permanent magnet brushless DC to watch
Take motor Y8 driven machine people's forearm rotary motion, use the rotation of rare earth permanent magnet brushless DC servomotor Z9 driven machine human wrist
Transhipment is dynamic, use rare earth permanent magnet brushless DC servomotor R10 driven machine human wrist elevating movement, on described robot's arm
Being provided with avoidance displacement transducer S1 12, avoidance displacement transducer S2 13 and acceleration transducer A1 17, described robot is little
Avoidance displacement transducer S3 14, avoidance displacement transducer S4 15 and acceleration transducer A2 18, described machine are installed on arm
Alignment sensor S5 16 and acceleration transducer A3 19 is installed in human wrist.
Described control system includes that main website controls computer 1 and controller 2, and described controller 2 includes dsp chip control
Device 3, integrating control chip 28, PlC controller 20, image capture module 26, wireless transport module 25 and ARM controller 4, described
Communicate to connect between image capture module 26 and wireless transport module 25, described dsp chip controller 3, integrating control chip 28
All control computer 1 with described main website with PlC controller 20 to communicate to connect, described dsp chip controller 3, integrating control chip
28 and ARM controller 4 communicatively connected to each other, described wireless transport module 25 and ARM controller 4 communicate to connect, described PlC control
Device 20 communicates to connect with ARM controller 4, is provided with decoding chip 27 in described image capture module 26.
Described rare earth permanent magnet brushless DC servomotor X7, rare earth permanent magnet brushless DC servomotor Y8, rare earth permanent magnet without
Brush DC servo motor Z9 and rare earth permanent magnet brushless DC servomotor R10 all communicates to connect with described dsp chip controller 3,
Described avoidance displacement transducer S1 12, avoidance displacement transducer S2 13, avoidance displacement transducer S3 14, avoidance displacement sensing
Device S4 15, alignment sensor S5 16, acceleration transducer A1 17, acceleration transducer A2 18 and acceleration transducer A3
19 communicate to connect with described dsp chip controller 3, PLC 20 and ARM controller 4 all simultaneously.
Preferably, the underloading of the present invention is wirelessly transferred four core quick articulated robot control system and also includes for described joint
Robot and control system provide main power source 5 and the stand-by power supply 6 of power supply, each the described motor in described articulated robot and
Controller 2 in sensor and control system is all electrically connected with described main power source 5 and/or stand-by power supply 6.
Preferably, described rare earth permanent magnet brushless DC servomotor X 7, rare earth permanent magnet brushless DC servomotor Y 8, dilute
Even it is provided with photoelectric encoder 11 on soil DC permanent-magnetic brushless servomotor Z 9 and rare earth permanent magnet brushless DC servomotor R10,
Described photoelectric encoder 11 is electrically connected with described dsp chip controller 3.
Preferably, described robot's arm is provided with magnetoelectric transducer EM1 21, described robot forearm is provided with
Magnetoelectric transducer EM2 22, described robot wrist is provided with magnetoelectric transducer EM3 23 and EM4 24, described magnetic-electric sensing
Device EM1 21, magnetoelectric transducer EM2 22, magnetoelectric transducer EM3 23 and EM4 24 all with described dsp chip controller 3 and ARM
Controller 4 communicates to connect.These magnetoelectric transducers read respective zero position mark respectively, when four all detect signal
Time, SCARA robot realizes accurately resetting, improves the degree of accuracy of reset.
The present invention uses dsp controller 3(TMS320F2812)+PLC 20+ integrating control chip 28+ARM control
Device 4(STM32F746) four cores carry out system control.Integrating control chip 28 uses the big rule that National Semiconductor produces
Mould integrated chip LM628.The controller principle of the present invention is: under power-on state, and ARM controller is first standby to robot
Power supply SOC(state-of-charge) and main power source judge, if stand-by power source is relatively low, controller will be sent to master station by wireless
Alarm signal；If stand-by power supply and main power source are working properly, first by master station by PLC large arm of transporting goods, little
Arm and the wrist anglec of rotation and adjustable height or copy each coordinate information of goods mechanically and input to ARM, then counted by ARM
Calculate the parameter of robot servo's system；Zero position sensor EM1, EM2, EM3 and EM4 that SCARA robot carries and based on
The image capturing system of CCD is started working, and the two guided robot resets to set zero position, and robot enters self-locking state；
After once carrying command starts, avoidance sensor, alignment sensor and acceleration transducer that robot carries all are opened,
SCARA robot is according to setting the transport path fast removal that ARM optimizes, DSP Yu LM628 communication, LM628 is according to servo parameter
SCARA robot rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servo is adjusted in real time with sensor feedback
The PWM output of motor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servomotor R, it is achieved four
The real-time servo of rare earth permanent magnet brushless DC servomotor controls, and CCD camera detects carrying result in real time, and ARM is to digitized map
The process of picture and storage are also transmitted by wireless system, and main website detects carrying result automatically by image comparison technology.If ARM
Have a question to carrying some position, will be with DSP communication, DSP makes SCARA robot stop by LM628, and then main website passes through
Carrying information is judged by image comparison, confirm errorless after continue the completeest by wireless device restarting SCARA robot
Becoming of task；By PLC, in real time and ARM communication transfer is newly added the positional information that transports goods in main website, ARM update robot and watch
Dress system parameter, and with DSP communication, by LM628 control robot complete new task.
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 rare earth permanent magnet brushless DC servomotors, motor input PWM ripple
Control signal is blocked, and work to master station and is sent alarm signal by wireless device by alarm sensor simultaneously；If battery
SOC is normal, and SCARA robot enters and treats duty, waits work order.
2) once master station's work order starts, and PLC starts and ARM communication, and PLC is large arm, forearm lengths and liter
The information such as the length of fall bar are passed to ARM controller by RS484, and robot starts correcting zero position, and SCARA robot carries
Magnetoelectric transducer EM1, EM2, EM3 and EM4 and image capturing system based on CCD start working, EM1, EM2, EM3 and EM4
Each finding the zero position mark set, when magnetoelectric transducer EM1, EM2, EM3 and EM4 all have signal to export, ARM passes in real time
Defeated reset image is to master station, and after master station's confirmation is errorless, by wireless device and DSP communication, it is dilute that DSP blocks four tunnels by LM628
The PWM wave control signal of soil DC permanent-magnetic brushless servomotor, SCARA robot guides zero position to reset, now automatically
ARM controller and dsp controller set each anglec of rotation, wrist lifting height。
3) in order to meet the acceleration and deceleration motion needs of SCARA robot, the present invention uses the movement time 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) SCARA robot reads its mode of operation if manual working pattern, and main website begins through PLC Yu ARM control
Device communication processed, is needed the angle rotated by main website input SCARA robot's arm, forearm and wrist,,And SCARA
Robot wrist needs the height rising or decliningTo ARM controller, ARM controller is according to Denavit-
Hartenberg algorithm starts robot location and attitude forward solves: ARM controller first according to SCARA robot's arm,
Forearm and wrist need the angle rotated,,And SCARA robot wrist needs the height of risingCalculate phase
Position auto-control between adjacent two member coordinates,,,, and with each personal 4*4 two-dimensional array mark,,,,It is expressed as follows respectively:
,,
,。
Then ARM controller passes through formulaJust can obtain wrist executor and complete task
After position and attitude, and with DSP communication, transmission be manually entered parameter to DSP.
5) SCARA robot read work pattern is if normal automatic transporting mode of operation, and main website begins through PLC
With ARM controller communication, the initial position residing for input SCARA robot of main website and given position three-dimensional coordinate control to ARM
Device processed, it is Converse solved that ARM controller starts robot according to Denavit-Hartenberg algorithm: ARM controller first basis
X and Y coordinates in large arm, forearm lengths and final three-dimensional coordinate obtain the angle that large arm needs to rotate, and by
Value obtainValue, and according to the Z coordinate in three-dimensional coordinate obtain wrist rise or reduce height, finally obtain rotation
Gyration, owing to solvingWhen equation have bilingual, so SCARA robot obtains large arm, forearm and wrist need
Angle to be rotated,,And SCARA robot wrist needs the height of risingAfter, ARM controller can be to solving
Result is optimized, then ARM controller and DSP communication, most has 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 in large arm, forearm and wrist ~ S5, EM1, EM2 and
EM3 will open, and first SCARA robot wants zero setting position to judge, after confirming that initial position is errorless, and SCARA robot pair
Barrier in each turning arm anglec of rotation judges, will send interrupt requests to DSP as there is barrier, and DSP can be right
Interrupting doing very first time response, then DSP forbids four axle LM628 work, four axle rare earth permanent magnet brushless DC servomotor PWM ripples
Control signal is blocked, and SCARA robot forbids rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servo
Motor Y, rare earth permanent magnet brushless DC servomotor Z and motor rare earth permanent magnet brushless DC servomotor R work, robot self-locking
In original place, image capturing system based on CCD is opened, and ARM sends interrupt requests by wireless device to master station after processing, in order to
Preventing information from judging by accident, master station judges the obstacle information in range of movement by radio transmitting image secondary, by master station artificially
Reason barrier, prevents 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,,It is converted into the acceleration of three rare earth permanent magnet brushless DC servomotors, speed and position initial order value,
Then DSP Yu LM628 communication, LM628 combines the photoelectric encoder feedback of motor X, motor Y and motor Z, watches inside LM628
Clothes regulation Program Generating motor X, motor Y and the PWM wave control signal of motor Z, PWM wave control signal amplifies rear-guard through drive axle
Each motor movement dynamic.Dsp controller adjusts the PID ginseng of the internal SERVO CONTROL program of LM628 in real time according to input deviation size
Number, LM628 controller adjusts its anglec of rotation by the number of drive pulses adjusting rare earth permanent magnet brushless DC servomotor, logical
The frequency crossing adjustment rare earth permanent magnet brushless DC Serve Motor Control signal realizes the change of angular velocity speed, makes three axle rare earths forever
Magnetic brushless DC servomotor timing synchronization works, the location parameter that DSP moment recorder people has moved, and by wireless
Transmit to master station in real time.
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 inputs the anglec of rotation of new position by wireless device to DSP,
,, then DSP controls the LM628 curve movement according to Fig. 7 again through three sections of movement locus: accelerated motion, uniform 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, it is new that DSP is converted into three rare earth permanent magnet brushless DC servomotors this deviation
Acceleration, speed and position initial order value, in the next sampling period, DSP Yu LM628 communication, LM628 combines motor X, electricity
Machine Y and the feedback of motor Z motor photoelectric encoder feedback, through LM628 internal servo regulation Program Generating motor X, motor Y and electricity
The PWM wave control signal of machine Z, PWM wave control signal amplifies each motor movement of rear drive through drive axle.Dsp controller 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 rare earth forever
The number of drive pulses of magnetic brushless DC servomotor adjusts its anglec of rotation, by adjusting rare earth permanent magnet brushless DC servo electricity
The frequency of machine control signal realizes the change of angular velocity speed, and then eliminates the error that a sampling period produces, and makes SCARA
Robot completes task according to setting track.
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
Rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z
Angle, angle rates and angular acceleration to be run, LM628 combines motor X, motor Y and motor Z motor photoelectric encoder
The feedback of feedback, through internal servo regulation Program Generating motor X, motor Y and the PWM wave control signal of motor Z, PWM ripple controls
Signal amplifies each motor movement of rear drive through drive axle.Dsp controller adjusts inside LM628 in real time according to input deviation size
The pid parameter of SERVO CONTROL program, adjusts its rotation by the number of drive pulses adjusting rare earth permanent magnet brushless DC servomotor
Gyration, is realized the change of angular velocity speed, makes by the frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal
SCARA robot quickly moves 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 motor 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, DSP handle detect automatically by image comparison technology in master station
Three anglec of rotation deviations,,It is converted into the acceleration of three rare earth permanent magnet brushless DC servomotor fine position
Degree, speed and position initial order value, then DSP Yu LM628 communication, LM628 combines motor X, motor Y and motor Z motor light
The feedback of photoelectric coder feedback, through the PWM ripple control letter of LM628 internal servo regulation Program Generating motor X, motor Y and motor Z
Number, PWM wave control signal amplifies each motor movement of rear drive through drive axle.Dsp controller is real-time according to input deviation size
Adjusting the pid parameter of the internal SERVO CONTROL program of LM628, LM628 controller is by adjusting rare earth permanent magnet brushless DC servo electricity
The number of drive pulses of machine adjusts its anglec of rotation, by adjusting the frequency of rare earth permanent magnet brushless DC Serve Motor Control signal
Realize the change of angular velocity speed, by the task again of three axle rare earth permanent magnet brushless DC servomotors make 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
Behind position, the sensor EM4 in wrist will be again turned on, and first SCARA robot wants zero setting position to judge, confirm initial
After position is errorless, DSP is according to the speed time curve of Fig. 7, distance to be lifted for wristIt is converted into rare-earth permanent magnet brushless straight
The acceleration of flow servo motor R, speed and position initial order value, then DSP Yu LM628 communication, LM628 combines motor R light
The feedback of photoelectric coder, through the PWM wave control signal of internal servo regulation Program Generating motor R, PWM wave control signal is through driving
Bridge amplifies each motor movement of rear drive.Dsp controller adjusts the internal servo control processing procedure of LM628 in real time according to input deviation size
The pid parameter of sequence, dsp controller adjusts it by the number of drive pulses adjusting rare earth permanent magnet brushless DC servomotor and rotates
Angle, is realized the change of angular velocity speed, makes hands by the frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal
Wrist steadily arrives setting position within the setting time.
13) if SCARA robot finds that location parameter solves and occurs that endless loop will be in ARM sends in motor 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 rare earth permanent magnet brushless DC servomotors of lock, robot original place self-locking, ARM controller passes through wireless device
Carrying out communication with main website, the CCD moment gathers peripheral information and by being wirelessly transferred, and image acquisition information is analyzed by main website,
And restart SCARA robot according to collection result secondary, by PLC secondary to the input carrying of SCARA robot
Information.
14) in SCARA robot motor process the most repeatedly, if main website is found to have interim vital task addition work
In queue, PLC will be opened by main website, main website inputted to ARM by RS485 by PLC and ARM communication, PLC
The position servo parameter of vital task, ARM Yu DSP communication, first controlled LM628 by DSP and complete currently outstanding task, with
Time ARM update DSP original servo control parameter queue, and transmit new servo position parameter to DSP, make DSP control
LM628 completes to insert the important temporary duty in queue.
15) in SCARA robot motor process the most repeatedly, if when magnetoelectric transducer EM1, EM2, EM3 and EM4 read
During to transducing signal, dsp controller will replace existing location parameter to carry out new position servo control with zero position parameter, and
Calculating error, in the next sampling period, DSP is by the internal three closed loop rare earth permanent magnet brushless DC servomotor controls of LM628
Processing procedure ordered pair error compensates, and eliminates cumulative errors in time.
16) during SCARA robot transport, main website can automatically analyze contrast to collection image based on CCD,
When having problems such as a certain position of pinpointing the problems, main website first passes through wireless device and DSP communication, and first DSP controls LM628 completes
Current task is also stopped setting zero position, main website automatically detect carrying result, automatically updated by ARM after detection
The next servo-controlled location parameter of DSP, is controlled LM628 by DSP and realizes the SERVO CONTROL of new position.
17) be contained in rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet without
Photoelectric encoder on brush DC servo motor Z, rare earth permanent magnet brushless DC servomotor R can export its position signalling A and position
Confidence B, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, and the position in DSP and ARM is posted
Storage can add 1 according to the traffic direction of motor or subtract 1；The position signalling A pulse of photoelectric encoder and B pulse and Z pulse
When being low level simultaneously, just produce an INDEX signal and watch to DSP and ARM internal register, record rare earth permanent magnet brushless DC
Take the absolute position of motor, be then convert into SCARA robot's arm, forearm or the wrist tool in three-dimensional coordinate system
Body position, ARM controller by PLC and main website communication, is transferred to main website important location parameter in real time.Work as magnetoelectric transducer
When EM1, EM2 and EM3 read transducing signal, dsp controller will replace existing location parameter with zero position parameter, eliminate in time
Cumulative errors.
18) 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
Rare earth permanent magnet brushless DC servomotor provides energy, and DSP adjusts four rare earths in real time by LM628 internal servo regulation program
The PWM output of DC permanent-magnetic brushless servomotor, LM628 controller is by adjusting driving of rare earth permanent magnet brushless DC servomotor
Moving pulse number adjusts its anglec of rotation, realizes angle by the frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal
The change of speed speed, makes SCARA robot complete specifically and carries task, and then SCARA robot is carried out with main website by PLC
Communication, and notify that main website overhauls.
19) in SCARA robot Multi-asis servo system work process, if DSP servo controller detects some
There is pulsation in the torque of rare earth permanent magnet brushless DC servomotor, the rare earth permanent magnet brushless DC servo electricity used due to the present invention
Machine power square is in direct ratio with current of electric, and therefore controller can be easy to compensate this interference, and adjusts in real time according to interference size DSP
Pid parameter within whole LM628, decreases the motor torque disturbance impact on SCARA robot kinematics.
20) task is completed when SCARA robot, it is achieved during the zero of position, acceleration transducer A1 ~ A3 that it carries, magnetic
Electric transducer EM1, EM2, EM3 and EM4 can work in the moment, first have acceleration transducer to detect its acceleration, when acceleration exceedes
During pre-set threshold value, can be revised, at next cycle dsp controller, the error that a cycle brings by LM628, when magnetoelectricity passes
When sensor EM1, EM2, EM3, EM4 all have signal to export, ccd image acquisition system Real-time Collection repositioning information, through ARM process
Sending image transmitting by wireless device to master station afterwards to ask, master station is automatically reset result by image comparison technology, and DSP passes through
LM628 blocks the PWM wave control signal of four road rare earth permanent magnet brushless DC servomotors, and SCARA robot guides zero-bit automatically
Putting reset to complete, SCARA robot realizes the playback from certain point to zero-bit according to the Velocity-time curve movement of Fig. 7, then
Zero-bit self-locking, waits next group work order.
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 (7)
1. a underloading is wirelessly transferred four core quick articulated robot control system, it is characterised in that described articulated robot is adopted
With rare earth permanent magnet brushless DC servomotor X driven machine people's large arm rotary motion, use rare earth permanent magnet brushless DC servo electricity
Machine Y driven machine people's forearm rotary motion, employing rare earth permanent magnet brushless DC servomotor Z driven machine human wrist rotate fortune
Dynamic, employing rare earth permanent magnet brushless DC servomotor 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 orientation sensing
Device S5 and acceleration transducer A3, described control system includes that main website controls computer and controller, and described controller includes
Dsp chip controller, PlC controller, integrating control chip, image capture module, wireless transport module and ARM controller, institute
State and communicate to connect between image capture module and wireless transport module, described dsp chip controller, integrating control chip and PlC
Controller all controls compunication with described main website and is connected, and described dsp chip controller, integrating control chip and ARM control
Device is communicatively connected to each other, and described wireless transport module and ARM controller communication connection, described PlC controller leads to ARM controller
Letter connects, and described rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare-earth permanent magnet brushless are straight
Flow servo motor Z and rare earth permanent magnet brushless DC servomotor R all communicates to connect with described dsp chip controller, 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 are controlled with described dsp chip controller and ARM all simultaneously
Device processed communicates to connect.
Underloading the most according to claim 1 is wirelessly transferred four core quick articulated robot control system, it is characterised in that also
Including providing main power source and the stand-by power supply of power supply for described articulated robot and control system, each in described articulated robot
Controller in individual described motor and sensor and control system is all electrically connected with described main power source and/or stand-by power supply.
Underloading the most according to claim 1 is wirelessly transferred four core quick articulated robot control system, it is characterised in that institute
State rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servo electricity
The even photoelectric encoder that is provided with on machine Z and rare earth permanent magnet brushless DC servomotor R, described photoelectric encoder and described DSP core
Sheet controller is electrically connected with.
The most according to any one of claim 1 to 3 teaching with being wirelessly transferred three core quick articulated robot control system,
It is characterized in that, 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.
Underloading the most according to any one of claim 1 to 3 is wirelessly transferred four core quick articulated robot control system, its
It is characterised by, described robot's arm is provided with magnetoelectric transducer EM1, described robot forearm is provided with magnetoelectric transducer
EM2, described robot wrist is provided with magnetoelectric transducer EM3 and EM4, described magnetoelectric transducer EM1, magnetoelectric transducer EM2,
Magnetoelectric transducer EM3 and EM4 all communicates to connect with described dsp chip controller and ARM controller.
Underloading the most according to claim 4 is wirelessly transferred four core quick articulated robot control system, it is characterised in that institute
State and magnetoelectric transducer EM1 is installed on robot's arm, described robot forearm is provided with magnetoelectric transducer EM2, described machine
Magnetoelectric transducer EM3 and EM4, described magnetoelectric transducer EM1, magnetoelectric transducer EM2, magnetoelectric transducer are installed in device human wrist
EM3 and EM4 all communicates to connect with described dsp chip controller and ARM controller.
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