CN105945959A - Overloaded five-core quick joint robot control system - Google Patents

Overloaded five-core quick joint robot control system Download PDF

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Publication number
CN105945959A
CN105945959A CN201610419537.0A CN201610419537A CN105945959A CN 105945959 A CN105945959 A CN 105945959A CN 201610419537 A CN201610419537 A CN 201610419537A CN 105945959 A CN105945959 A CN 105945959A
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controller
rare
arm
robot
earth permanent
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CN201610419537.0A
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CN105945959B (en
Inventor
张好明
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Runtou Intelligent Science and Technology Research Institute Jiangsu Co., Ltd.
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Jiangsu Robobor Bobot Technology Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-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
    • B25J9/046Revolute coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676Avoiding collision or forbidden zones

Abstract

The invention discloses an overloaded five-core quick joint robot control system. The control system comprises a master station control computer and a controller. The controller comprises a DSP chip controller, a permanent magnet synchronous motor closed-loop control chip, a speech recognition processor, a PLC and an ARM controller. The DSP chip controller and the ARM controller are both in communication connection with the master station control computer. The DSP chip controller is in communication connection with the ARM controller. Four rare-earth permanent magnet synchronous servo motors are all in communication connection with the DSP chip controller. A plurality of obstacle avoidance displacement sensors, a locating sensor, gyroscopes and acceleration sensors are all in communication connection with the DSP chip controller and the ARM controller. The overloaded five-core quick joint robot control system is high in calculation speed, and therefore a joint robot is flexible in arm steering, stable and accurate in movement and small in size, performance is stable, and the anti-jamming capability of the system is high.

Description

A kind of heavily loaded five core quick articulated robot control system
Technical field
The present invention relates to a kind of heavily loaded five core quick articulated robot control system, belong to four joint machines of assembling work Device human arm application.
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 robot to judge the location parameter that master controller inputs during transporting goods the moment, and judges week The environment moment avoidance enclosed, then by motion controller repetitive control, it accelerates accurately and deceleration is transported goods, somewhat Deviation accumulation be possible to many bouts move in cause transporting unsuccessfully.Although the domestic use to SCARA robot has several 10 years, but owing to domestic industry robot development starting ratio is later, affected by more key technology, SCARA robot 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) although DC permanent-magnetic brushless servomotor relatively motor, direct current generator and DC servo motor performance increase, But its torque pulsation when startup or low-speed motion is bigger, it is impossible to meet high accuracy SCARA robot system requirement.
(2) control of brushless DC servomotor needs positional information feedback to carry out electronic commutation, for this control system For need 12 position sensors to carry out position feedback so that system hardware complexity increase.
(3) although DC permanent-magnetic brushless servomotor relatively motor, direct current generator and DC servo motor performance Improve, but it is relatively inefficient, it is impossible to meet SCARA robot energy conserving system.
(4) although DC permanent-magnetic brushless servomotor relatively motor, direct current generator and DC servo motor performance Improve, but its load capacity is relatively weak, it is impossible to meet heavy duty SCARA robot system requirement.
(5) starting after robot runs into emergency needs parking or stops is all to be completed by button, machine The degree of intelligence of people is the highest.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of heavily loaded five core quick articulated robot control system, and this is heavy Carrying five core quick articulated robot control system, to calculate speed fast, make articulated robot arm turn to flexibly, having stable behavior is accurate, Compact, stable performance, can improve the work load capacity of robot, facilitate robot to insert interim action.
For solving above-mentioned technical problem, the technical solution used in the present invention is: provide a kind of heavily loaded five core quick joint machines Device people's control system, described articulated robot uses rare-earth permanent-magnetic synchronous servomotor X driven machine people's large arm rotary motion, adopts With rare-earth permanent-magnetic synchronous servomotor Y driven machine people's forearm rotary motion, rare-earth permanent-magnetic synchronous servomotor Z is used to drive machine Device human wrist rotary motion, employing rare-earth permanent-magnetic synchronous servomotor R driven machine human wrist elevating movement, the described machine National People's Congress Avoidance displacement transducer S1, avoidance displacement transducer S2, gyroscope and acceleration transducer A1, described robot are installed on arm Avoidance displacement transducer S3, avoidance displacement transducer S4, gyroscope and acceleration transducer A2, described machine are installed on forearm Being provided with alignment sensor S5, gyroscope and acceleration transducer A3 in human wrist, described control system includes main website control Computer and controller, described controller includes dsp chip controller, permagnetic synchronous motor closed loop control chip, speech recognition Processor, PlC controller and ARM controller, described dsp chip controller, permagnetic synchronous motor closed loop control chip, PlC are controlled Device processed and voice recognition processor all control compunication with described main website and are connected, described dsp chip controller, permanent-magnet synchronous Motor closed loop control chip, voice recognition processor and ARM controller are communicatively connected to each other, and described PlC controller controls with ARM Device communicates to connect, described rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare-earth permanent-magnetic synchronous servo electricity Machine Z and rare-earth permanent-magnetic synchronous 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 all simultaneously with described dsp chip controller and ARM controller communication link Connect.
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-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servo electricity The even photoelectric encoder that is provided with on machine Y, rare-earth permanent-magnetic synchronous servomotor Z and rare-earth permanent-magnetic synchronous servomotor R, described photoelectricity Encoder is electrically connected with described dsp chip controller.
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: it is fast that the heavy duty five core quick articulated robot control system of the present invention calculates speed, Make articulated robot arm turn to flexibly, having stable behavior is accurate, compact, stable performance, and system rejection to disturbance ability is strong, noise Low, facilitate robot to insert interim action, between main website and ARM controller, carry out communication by PLC so that master station is controlled with ARM Data communication can be carried out between device processed in real time and call so that it is very simple that temporary duty adds motion queue, and main website passes through Based on voice recognition processor to ARM controller input temporary duty or emergency start-stop order, decrease under the state of emergency By the time of input through keyboard order, robot work efficiency can be effectively improved, based on PLC and based on speech recognition Two kinds of input modes make robot change task convenient, and permagnetic synchronous motor closed loop control chip and dsp controller can So that rare-earth permanent-magnetic synchronous servomotor to be controlled in real time, decrease writing of servo control software so that control simpler Single, substantially increase arithmetic speed, solve scm software and run slower bottleneck, shorten the construction cycle short, and journey Sequence transplantation ability is strong.
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-magnetic synchronous servomotor SCARA robot two-dimensional structure figures
Fig. 3 is based on five core four axle rare-earth permanent-magnetic synchronous servomotor SCARA robot controller principles
Fig. 4 is based on five core four axle rare-earth permanent-magnetic synchronous servomotor SCARA robot program's block diagrams.
Fig. 5 is based on five core four axle rare-earth permanent-magnetic synchronous servomotor motion principle figures
Fig. 6 is four spindle motor acceleration and deceleration curves figures;
Fig. 7 is the heavy duty five core quick articulated robot Control system architecture schematic diagram of the present invention.
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-magnetic synchronous servomotor X, 8, rare-earth permanent-magnetic synchronous servomotor Y, 9, rare-earth permanent-magnetic synchronous servomotor Z, 10, rare-earth permanent-magnetic synchronous servomotor R, 11, photoelectric encoder, 12, avoidance displacement Sensor S1,13, avoidance displacement transducer S2,14, avoidance displacement transducer S3,15, avoidance displacement transducer S4,16, location 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, magnetoelectric transducer EM4,25, voice knows Other processor, 26, permagnetic synchronous motor closed loop control chip, 27, gyroscope.
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. 7, the embodiment of the present invention includes: a kind of heavily loaded five core quick articulated robot control system, should Machine artificially SCARA robots based on four axle rare-earth permanent-magnetic synchronous servomotors, the most described articulated robot uses rare earth forever Magnetic-synchro servomotor X 7 driven machine people's large arm rotary motion, employing rare-earth permanent-magnetic synchronous servomotor Y 8 driven machine people Forearm rotary motion, employing rare-earth permanent-magnetic synchronous servomotor Z 9 driven machine human wrist rotary motion, employing rare earth permanent magnet are together Step servomotor R 10 driven machine human wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1 12, avoidance displacement transducer S2 13, gyroscope 27 and acceleration transducer A1 17, described robot forearm is provided with avoidance Displacement transducer S3 14, avoidance displacement transducer S4 15, gyroscope 27 and acceleration transducer A2 18, described robot Alignment sensor S5 16, gyroscope 27 and acceleration transducer A3 19 are installed on wrist.
Described control system includes that main website controls computer 1 and controller 2, and described controller 2 includes dsp chip control Device 3, permagnetic synchronous motor closed loop control chip 26, voice recognition processor 25, PlC controller 20 and ARM controller 4, described Dsp chip controller 3, permagnetic synchronous motor closed loop control chip 26, PlC controller 20 and voice recognition processor 25 are all and institute State main website control computer 1 to communicate to connect, described dsp chip controller 3, permagnetic synchronous motor closed loop control chip 26, voice Recognition processor 25 and ARM controller 4 are communicatively connected to each other, and described PlC controller 20 communicates to connect with ARM controller 4.Described Rare-earth permanent-magnetic synchronous servomotor X7, rare-earth permanent-magnetic synchronous servomotor Y8, rare-earth permanent-magnetic synchronous servomotor Z9 and rare earth are forever Magnetic-synchro 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 transducer S4 15, alignment sensor S5 16, acceleration Degree sensors A 1 17, acceleration transducer A2 18 and acceleration transducer A3 19 all simultaneously with described dsp chip controller 3, Voice recognition processor 25, PLC 20 and ARM controller 4 communicate to connect.
Preferably, the heavy duty five core quick articulated robot control system of the present invention also include for described articulated robot and Control system provides the main power source 5 of power supply and stand-by power supply 6, each described motor in described articulated robot and sensor with And the controller 2 in control system is all electrically connected with described main power source 5 and/or stand-by power supply 6.
Preferably, described rare-earth permanent-magnetic synchronous servomotor X 7, rare-earth permanent-magnetic synchronous servomotor Y 8, rare earth permanent magnet are together The even photoelectric encoder 11 that is provided with on step servomotor Z 9 and rare-earth permanent-magnetic synchronous servomotor R10, described photoelectric encoder 11 It 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)+permagnetic synchronous motor closed loop control chip 26(is i.e. IRMCK203 controller)+voice recognition processor 25(chip model is LD3320)+PLC 20+ ARM controller 4 (STM32F746) five cores carry out system control.
Under power-on state, ARM controller the most dynamically edits the key words list of LD3320, increases robot language Sound discrimination, then to robot stand-by power supply SOC(state-of-charge) and main power source judge, if stand-by power source is relatively low, Controller can send alarm signal;If stand-by power supply and main power source are working properly, first by master station by PLC or Speech recognition system based on LD3320 is transporting goods large arm, forearm and the wrist anglec of rotation and lifting information inputs to ARM, is then calculated the parameter queue of robot servo's system by ARM;Zero position sensor EM1 that SCARA robot carries, EM2, EM3 and EM4 start working, and make robot reset to set zero position, and robot enters self-locking state;Once carrying command After beginning, avoidance sensor, alignment sensor, acceleration transducer and gyroscope that robot carries all are opened, SCARA machine People according to set ARM optimize transport path fast removal, DSP Yu IRMCK203 communication, IRMCK203 according to servo parameter with Sensor feedback adjusts SCARA robot rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare earth in real time The PWM output of permanent magnet synchronous servo motor Z and rare-earth permanent-magnetic synchronous servomotor R, it is achieved four rare-earth permanent-magnetic synchronous servo electricity The real-time servo of machine controls, DSP and ARM Real-time Collection robot motion's information also stores cargo location information;If ARM is to removing Transport some position to have a question, will be with DSP communication, DSP makes SCARA robot stop by IRMCK203, then artificial to DSP Storage information judges, confirms that errorless rear master station manually starts SCARA robot by PLC secondary and continues to be not fully complete Task.In robot kinematics, if running into emergency, main website will be by microphone apparatus to controller input control System order, speech recognition device LD3320 is converted into main website order with DSP communication, DSP after processing with ARM communication, ARM after identifying The control signal of each rare-earth permanent-magnetic synchronous servomotor.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, Fig. 5, Fig. 6, its concrete functional realiey is as follows:
1), after SCARA robot power supply is opened, in order to improve robot voice recognition effect, false recognition rate, ARM are reduced further Controller first inputs the conventional number order of SCARA robot and instruction to LD3320, is used for absorbing wrong identification, thus reaches Reduce the purpose of LD3320 false recognition rate.
2) stand-by power supply SOC and main power source state are first judged by ARM, if stand-by power supply SOC is relatively low, DSP will Forbidding controlling the IRMCK203 work of four rare-earth permanent-magnetic synchronous servomotors, motor input PWM wave control signal is blocked, with Work to master station and is sent alarm signal by PLC by alarm sensor;If battery SOC is normal, SCARA machine People enters and treats duty, waits work order.
3) once master station's work order starts, and master station can select to control based on LD3320 speech recognition system or PLC Device processed and ARM communication, any one controller can pass through the information such as the length of large arm, forearm lengths and elevating lever RS485 is passed to ARM controller, and then robot starts correcting zero position, magnetoelectric transducer EM1 that SCARA robot carries, EM2, EM3 and EM4 start working, and each find the zero position mark of setting, as magnetoelectric transducer EM1, EM2, EM3 and EM4 When all having signal to export, DSP blocks the PWM wave control signal of four road rare-earth permanent-magnetic synchronous servomotors by IRMCK203, SCARA robot guides zero position to reset automatically, now ARM controller sets each anglec of rotation , wrist lifting height
4) in order to meet the acceleration and deceleration motion needs of SCARA robot, the present invention uses the movement time such as Fig. 6 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.
5) SCARA robot reads its mode of operation, if manual working pattern, master station can select based on LD3320 Speech recognition system or PLC and ARM communication, needed by main website input SCARA robot's arm, forearm and wrist The angle rotated,,And SCARA robot wrist needs to rise or the height of declineTo ARM controller, ARM controller starts robot location according to Denavit-Hartenberg algorithm and attitude forward solves: ARM controller is first The angle rotated is needed according to SCARA robot's arm, forearm and wrist,,And on SCARA robot wrist's needs The height risenCalculate the 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.
6) SCARA robot reads its mode of operation, if normal automatic transporting mode of operation, main website can select base In LD3320 speech recognition system or PLC and ARM communication, initial by residing for input SCARA robot of main website Position and given position three-dimensional coordinate start machine to ARM controller, ARM controller according to Denavit-Hartenberg algorithm People is Converse solved: first ARM controller is obtained greatly according to the X and Y coordinates in large arm, forearm lengths and final three-dimensional coordinate Arm needs the angle rotated, and byValue obtainValue, and according to the Z coordinate in three-dimensional coordinate obtain wrist rise Or the height reduced, finally obtain the anglec of rotation, owing to solvingWhen equation have bilingual, so SCARA machine Device people obtains the angle that large arm, forearm and wrist need to rotate,,And SCARA robot wrist needs the height of rising DegreeAfter, solving result can be optimized by ARM controller, then ARM controller and DSP communication, and most there is servo in robot Kinematic parameter is transferred to dsp controller.
7) 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 To open, first SCARA robot wants zero setting position to judge, after confirming that initial position is errorless, SCARA robot is to each Barrier in the turning arm anglec of rotation judges, will send interrupt requests to DSP as there is barrier, and DSP can be to interruption Doing very first time response, then DSP forbids four axle IRMCK203 work, and four axle rare-earth permanent-magnetic synchronous servomotor PWM ripples control Signal is blocked, and SCARA robot forbids rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare earth forever Magnetic-synchro servomotor Z and motor rare-earth permanent-magnetic synchronous servomotor R work, robot is self-locking in original place, dsp controller secondary Judge the obstacle information in range of movement, prevent information from judging by accident.
8) if dsp controller determines that clear enters moving region, dsp controller is bent according to the Velocity Time of Fig. 6 Movement position is decomposed by line, and DSP is first three anglecs of rotation,,It is converted into three rare-earth permanent-magnetic synchronous servos The acceleration of motor, speed and position initial order value, then DSP Yu IRMCK203 communication, IRMCK203 combines motor X, electricity The photoelectric encoder feedback of machine Y and motor Z, through IRMCK203 internal servo regulation Program Generating motor X, motor Y's and motor Z PWM wave control signal, PWM wave control signal amplifies each motor movement of rear drive through drive axle.Dsp controller is according to input partially Difference size adjusts the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time, and IRMCK203 controller is by adjusting rare earth permanent magnet The number of drive pulses of synchronous servo motor adjusts its anglec of rotation, by adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal Frequency realize the change of angular velocity speed, make three axle rare-earth permanent-magnetic synchronous servomotor timing synchronization work, DSP moment record The location parameter that robot has moved.
9) 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 hands by IRMCK203 immediately Wrist stops immediately according to the retarded motion curve of Fig. 6, and dsp controller records present rotation angel degree,,Information.On barrier After hindering thing to disappear, recalculate the anglec of rotation to new position,,, then DSP controls the IRMCK203 fortune according to Fig. 6 Moving curve is again through three sections of movement locus: accelerated motion, uniform motion and retarded motion, eventually arrives at set point.
10) 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 new acceleration of rare-earth permanent-magnetic synchronous servomotor this deviation Degree, speed and position initial order value, in the next sampling period, DSP Yu IRMCK203 communication, IRMCK203 combine motor X, Motor Y and the feedback of motor Z motor photoelectric encoder feedback, through IRMCK203 internal servo regulation Program Generating motor X, motor The PWM wave control signal of Y and motor Z, PWM wave control signal amplifies each motor movement of rear drive through drive axle.Dsp controller Adjust the PI parameter of the internal SERVO CONTROL program of IRMCK203 in real time according to input deviation size, IRMCK203 controller is by adjusting The number of drive pulses of whole rare-earth permanent-magnetic synchronous servomotor adjusts its anglec of rotation, by adjusting rare-earth permanent-magnetic synchronous 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.
11) 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-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, servomotor Z is to be run for rare-earth permanent-magnetic synchronous Angle, angle rates and angular acceleration, IRMCK203 combine motor X, motor Y and motor Z motor photoelectric encoder feedback anti- Feedback, through internal servo regulation Program Generating motor X, motor Y and the PWM wave control signal of motor Z, PWM wave control signal is through driving Dynamic bridge amplifies each motor movement of rear drive.Dsp controller adjusts the internal servo of IRMCK203 in real time according to input deviation size The PI parameter of control program, adjusts its anglec of rotation by the number of drive pulses adjusting rare-earth permanent-magnetic synchronous servomotor, logical Cross and adjust the frequency of rare-earth permanent-magnetic synchronous Serve Motor Control signal and realize the change of angular velocity speed, make SCARA robot by Quickly move ahead according to setting speed.
12) in SCARA robot kinematics, ARM and DSP real time record robot's arm, forearm and wrist rotate Angle, if master station finds that the robot speed of service is relatively slow, can be accelerated to ARM input by LD3320 speech recognition system Order, ARM according to acceleration time requirement with DSP communication, DSP, is converted into rare-earth permanent-magnetic synchronous remaining angle and watches after processing Take motor X, rare-earth permanent-magnetic synchronous servomotor Y, angle to be run for rare-earth permanent-magnetic synchronous servomotor Z, angle rates Instructing with angular acceleration, IRMCK203 controller is in conjunction with the feedback of photoelectric encoder, according to its internal three Close loop servo control Program readjusts the pwm control signal signal of three rare-earth permanent-magnetic synchronous servomotors, makes robot be rapidly completed task.
13) in SCARA robot kinematics, ARM and DSP real time record robot's arm, forearm and wrist rotate Angle, if master station find robot need emergency service, can by LD3320 speech recognition system to ARM input stop Order, with DSP communication after ARM process, DSP is according to requirement down time, and IRMCK203 controller is in conjunction with photoelectric encoder Feedback, controls letter according to the PWM that its internal three Close loop servo control programs readjust three rare-earth permanent-magnetic synchronous servomotors Number signal, makes robot be quickly completed parking, and dsp controller is revolved by acceleration and gyro sensor real time record robot Turn angle and store.After main website completes maintenance, start order, ARM by LD3320 speech recognition system to ARM input With DSP communication after process, DSP according to acceleration time requirement, remaining angle be converted into rare-earth permanent-magnetic synchronous servomotor X, Rare-earth permanent-magnetic synchronous servomotor Y, angle to be run for rare-earth permanent-magnetic synchronous servomotor Z, angle rates and angle are accelerated Degree instruction, IRMCK203 controller is in conjunction with the feedback of photoelectric encoder, according to its internal three Close loop servo control programs again Adjust the pwm control signal signal of three rare-earth permanent-magnetic synchronous servomotors, make robot be rapidly completed residue task.
14) 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, DSP is three anglec of rotation deviations,,It is converted into three The acceleration of rare-earth permanent-magnetic synchronous servomotor fine position, speed and position initial order value, then DSP Yu IRMCK203 leads to News, IRMCK203 combines motor X, motor Y and the feedback of motor Z motor photoelectric encoder feedback, through the internal servo of IRMCK203 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 PI ginseng of the internal SERVO CONTROL program of IRMCK203 in real time according to input deviation size Number, IRMCK203 controller adjusts its anglec of rotation by the number of drive pulses adjusting rare-earth permanent-magnetic synchronous servomotor, logical The frequency crossing adjustment rare-earth permanent-magnetic synchronous Serve Motor Control signal realizes the change of angular velocity speed, by three axle rare earth permanent magnets The task again of synchronous servo motor makes robot's arm, forearm and wrist arrive setting position.
15) angle is completed when large arm, forearm and the wrist of SCARA robot,,Angle compensation arrive set position Postponing, the sensor EM4 in wrist will be again turned on, and first SCARA robot wants zero setting position to judge, confirm initial bit Put errorless after, DSP is according to the speed time curve of Fig. 6, distance to be lifted for wristIt is converted into rare-earth permanent-magnetic synchronous servo The acceleration of motor R, speed and position initial order value, then DSP Yu IRMCK203 communication, IRMCK203 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 of IRMCK203 in real time according to input deviation size The PI parameter of processing procedure sequence, dsp controller adjusts it by the number of drive pulses adjusting rare-earth permanent-magnetic synchronous servomotor and rotates Angle, realizes the change of angular velocity speed by the frequency adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal, makes wrist put down Steady arrival setting position within the setting time.
16) 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 passes through IRMCK203 immediately Block four rare-earth permanent-magnetic synchronous servomotors control signal, robot original place self-locking, main website by PLC or based on LD3320 speech recognition system inputs new operating position information to ARM controller.
17) in SCARA robot motor process the most repeatedly, if main website is found to have interim vital task and needs to add In work queue, main website will be again based on the speech recognition system of LD3320, main website led to ARM by LD3320 controller News, the phonetic order of main website input is converted into important with ARM communication, ARM controller phonetic order after LD3320 identifies The position servo parameter of business, ARM Yu DSP communication, first controlled IRMCK203 by DSP and complete currently outstanding task, simultaneously ARM updates DSP original servo control parameter queue, and transmits new servo position parameter to DSP, makes DSP next Servo control completes important temporary duty.
18) 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-magnetic synchronous Serve Motor Control of IRMCK203 Error is compensated by program, eliminates cumulative errors in time.
19) rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare-earth permanent-magnetic synchronous servo electricity it are contained in Photoelectric encoder on machine Z, rare-earth permanent-magnetic synchronous servomotor R can export its position signalling A and position signalling B, photoelectric coding Position signalling A pulse and the B pulsed logic state of device often change once, and the location register in DSP and ARM can be according to motor Traffic direction adds 1 or subtracts 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 to DSP and ARM internal register, the absolute position of record rare-earth permanent-magnetic synchronous servomotor, then Being converted into SCARA robot's arm, forearm or the wrist particular location in three-dimensional coordinate system, ARM controller is real-time By PLC and main website communication, important location parameter is transferred to main website.When magnetoelectric transducer EM1, EM2 and EM3 read sensing During signal, dsp controller will replace existing location parameter with zero position parameter, eliminate cumulative errors in time.
20) 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-magnetic synchronous servomotor provides energy, and DSP adjusts four rare earths in real time by IRMCK203 internal servo regulation program The PWM output of permanent magnet synchronous servo motor, IRMCK203 controller is by adjusting the driving arteries and veins of rare-earth permanent-magnetic synchronous servomotor Strokes per minute mesh adjusts its anglec of rotation, realizes angular velocity speed by the frequency adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal Change, make SCARA robot complete specifically to carry task, then SCARA robot carries out communication by PLC and main website, and Notice main website overhauls.
21) 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-magnetic synchronous servomotor, and the rare-earth permanent-magnetic synchronous servomotor used due to the present invention uses straight Connecing direct torque, therefore controller can be easy to compensate this interference, and adjusts in real time inside IRMCK203 according to interference size DSP PI parameter, decrease the motor torque disturbance impact on SCARA robot kinematics.
22) task is completed when SCARA robot, it is achieved during the zero of position, acceleration transducer A1 ~ A3 that it carries, top Spiral shell instrument 27, magnetoelectric transducer EM1, EM2, EM3 and EM4 can work in the moment, first have acceleration transducer and gyroscope to detect it and add Speed and speed, when acceleration and speed exceed pre-set threshold value, can be repaiied by IRMCK203 at next cycle dsp controller Just going up the error that a cycle brings, when magnetoelectric transducer EM1, EM2, EM3, EM4 all have signal to export, DSP passes through IRMCK203 blocks the PWM wave control signal of four road rare-earth permanent-magnetic synchronous servomotors, and SCARA robot guides zero position automatically Reset completes, and SCARA robot realizes playback from certain point to zero-bit according to the Velocity-time curve movement of Fig. 6, and then zero Position 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 (4)

1. a heavy duty five core quick articulated robot control system, it is characterised in that described articulated robot uses rare earth forever Magnetic-synchro servomotor X driven machine people's large arm rotary motion, employing rare-earth permanent-magnetic synchronous servomotor Y driven machine people's forearm Rotary motion, employing rare-earth permanent-magnetic synchronous servomotor Z driven machine human wrist rotary motion, employing rare-earth permanent-magnetic synchronous servo Motor R driven machine human wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1, avoidance displacement biography Sensor S2, gyroscope and acceleration transducer A1, described robot forearm is provided with avoidance displacement transducer S3, avoidance displacement Sensor S4, gyroscope and acceleration transducer A2, described robot wrist is provided with alignment sensor S5, gyroscope and adds Velocity sensor A3, described control system includes that main website controls computer and controller, and described controller includes dsp chip control Device processed, permagnetic synchronous motor closed loop control chip, voice recognition processor, PlC controller and ARM controller, described dsp chip Controller, permagnetic synchronous motor closed loop control chip, PlC controller and voice recognition processor all control to calculate with described main website Machine communicates to connect, and described dsp chip controller, permagnetic synchronous motor closed loop control chip, voice recognition processor and ARM control Device is communicatively connected to each other, and described PlC controller and ARM controller communicate to connect, described rare-earth permanent-magnetic synchronous servomotor X, dilute Soil permanent magnet synchronous servo motor Y, rare-earth permanent-magnetic synchronous servomotor Z and rare-earth permanent-magnetic synchronous servomotor R all with described DSP core Sheet controller communicates to connect, 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 all simultaneously Communicate to connect with described dsp chip controller and ARM controller.
Heavily loaded five core the most according to claim 1 quick articulated robot control system, it is characterised in that also include for institute Articulated robot and the main power source of control system offer power supply and stand-by power supply, each the described electricity in described articulated robot are provided Controller in machine and sensor and control system is all electrically connected with described main power source and/or stand-by power supply.
Heavily loaded five core the most according to claim 1 quick articulated robot control system, it is characterised in that described rare earth is forever Magnetic-synchro servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare-earth permanent-magnetic synchronous servomotor Z and rare-earth permanent-magnetic synchronous servo The even photoelectric encoder that is provided with on motor R, described photoelectric encoder is electrically connected with described dsp chip controller.
4. according to the heavy duty five core quick articulated robot control system described in any one of claims 1 to 3, it is characterised in that Magnetoelectric transducer EM1 is installed on described robot's arm, described robot forearm is provided with magnetoelectric transducer EM2, described Magnetoelectric transducer EM3 and EM4, described magnetoelectric transducer EM1, magnetoelectric transducer EM2, magnetic-electric sensing are installed on robot wrist Device EM3 and EM4 all communicates to connect with described dsp chip controller and ARM controller.
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