CN106003062A - Light-load and four-kernel fast joint robot control system - Google Patents
Light-load and four-kernel fast joint robot control system Download PDFInfo
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- CN106003062A CN106003062A CN201610413567.0A CN201610413567A CN106003062A CN 106003062 A CN106003062 A CN 106003062A CN 201610413567 A CN201610413567 A CN 201610413567A CN 106003062 A CN106003062 A CN 106003062A
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- rare earth
- arm
- servomotor
- permanent magnet
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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
-
- 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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a light-load and four-kernel fast joint robot control system which comprises a master station control computer and a controller. The controller comprises a DSP chip controller, an integrated chip processor, a PLC and an ARM controller. The DSP chip controller and the ARM controller are 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 magnetic brushless direct-current servo motors are in communication connection with the DSP chip controller. Multiple obstacle avoidance displacement sensors, positioning sensors S5, acceleration sensors A1, acceleration sensors A2 and acceleration sensors A3 are in communication connection with the DSP chip controller and the ARM controller. By means of the light-load and four-kernel fast joint robot control system, the computing speed is high, arm steering of a joint robot is flexible, actions are stable and accurate, the size is small, the performance is stable, and the anti-interference capability of the system is high.
Description
Technical field
The present invention relates to a kind of underloading four 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) 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.
(5) in SCARA robot multiple-axis servo control system, control system based on single-chip microcomputer or DSP all needs
Servo control software to be write so that system development cycle is longer, and greatly reduce the arithmetic speed of system, and program
Transplantation ability is poor.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of underloading four core quick articulated robot control system, and this is light
Carrying four 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, noise is low, facilitates robot to insert interim action, and system development cycle is short, program transportability ability
By force.
For solving above-mentioned technical problem, the technical solution used in the present invention is: provide a kind of underloading four core quick joint machine
Device people's control system, described articulated robot uses rare earth permanent magnet brushless DC servomotor X driven machine people's large arm to rotate fortune
Move, use rare earth permanent magnet brushless DC servomotor Y driven machine people's forearm rotary motion, use rare earth permanent magnet brushless DC to watch
Take motor Z driven machine human wrist rotary motion, use the lifting of rare earth permanent magnet brushless DC servomotor R driven machine human wrist
Motion, described robot's arm is provided with avoidance displacement transducer S1, avoidance displacement transducer S2 and acceleration transducer A1,
Avoidance displacement transducer S3, avoidance displacement transducer S4 and acceleration transducer A2 are installed on described robot forearm, described
Being provided with alignment sensor S5 and acceleration transducer A3 on robot wrist, described control system includes that main website controls to calculate
Machine and controller, described controller includes dsp chip controller, integrated chip processor, PlC controller and ARM controller, institute
State dsp chip controller, PlC controller and integrated chip processor all with described main website control compunication be connected, described
Dsp chip controller, integrated chip processor and ARM controller are communicatively connected to each other, described PlC controller and ARM controller
Communication connection, described rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare-earth permanent magnet brushless
DC servo motor Z and rare earth permanent magnet brushless DC servomotor R all with described dsp chip controller communicate to connect, described in keep away
Barrier 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 communicates to 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 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 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 underloading four 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, system development cycle is short, and program transportability 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 magnet brushless DC servomotor SCARA robot two-dimensional structure figures;
Fig. 3 is dsp controller and integrated chip processor 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 the underloading four 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 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, integrated chip processor.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement
Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common
All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection
Enclose.
Referring to Fig. 2 to Fig. 8, the embodiment of the present invention includes: a kind of underloading four core quick articulated robot control system, should
Machine artificially SCARA robots based on four axle rare earth permanent magnet brushless DC servomotors, the most described articulated robot uses dilute
Soil DC permanent-magnetic brushless servomotor X7 driven machine people's large arm rotary motion, employing rare earth permanent magnet brushless DC servomotor Y8
Driven machine people's forearm rotary motion, use rare earth permanent magnet brushless DC servomotor Z9 driven machine human wrist rotary motion,
Use rare earth permanent magnet brushless DC servomotor R10 driven machine human wrist elevating movement, described robot's arm is provided with
Avoidance displacement transducer S1 12, avoidance displacement transducer S2 13 and acceleration transducer A1 17, described robot forearm is pacified
Equipped with avoidance displacement transducer S3 14, avoidance displacement transducer S4 15 and acceleration transducer A2 18, described robot wrist
On alignment sensor S5 16 and acceleration transducer A3 19 is installed.
Described control system includes that main website controls computer 1 and controller 2, and described controller 2 includes dsp chip control
Device 3, integrated chip processor 25, PlC controller 20 and ARM controller 4, described dsp chip controller 3, PlC controller 20 and
Integrated chip processor 25 all controls computer 1 with described main website and communicates to connect, at described dsp chip controller 3, integrated chip
Reason device 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 is forever
Magnetic brushless DC servomotor X7, rare earth permanent magnet brushless DC servomotor Y8, rare earth permanent magnet brushless DC servomotor 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 transducer S4 15, alignment sensor
S5 16, acceleration transducer A1 17, acceleration transducer A2 18 and acceleration transducer A3 19 all simultaneously with described DSP core
Sheet controller 3, integrated chip processor 25, PLC 20 and ARM controller 4 communicate to connect.
Preferably, the underloading four 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 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 (TMS320F2812)+integrated chip processor (i.e. LM628 chip, a kind of U.S.
The large scale integrated chip (LSI chip) that National Semiconductor produces)+PLC 20+ ARM controller (STM32F746) four core carries out
System controls.Controller principle figure such as Fig. 4 of the present invention: panel is with DSP(TMS320F28335) and LM628 as processor core
The heart, ARM (STM32F746) realizes goods carrying from any to the additionally large arm of a bit, forearm, the wrist anglec of rotation and wrist
The calculating of rise, and the interruption artificially transported goods by PLC real-time response master station, and and DSP
(TMS320F28335) communication, DSP(TMS320F28335) free in the middle of complicated work, DSP
(TMS320F28335) coordinate LM628 to realize the real-time control of four axle rare earth permanent magnet brushless DC servomotors, and respond in ARM
Disconnected, it is achieved data communication and storage live signal.
The rare earth permanent magnet brushless DC that native system efficiency is high, power density is high, rotary inertia is less, detent torque is big is watched
Take motor and instead of motor and common DC motor;In order to improve arithmetic speed, it is ensured that stablizing of SCARA robot system
Property and reliability, the present invention introduce in controller based on DSP precise flange device LM628, embedded controller ARM,
Programmable logic controller (PLC) PLC and multiple sensors, form brand-new four nuclear control devices based on DSP+LM628+ARM+PLC, this
Controller takes into full account the power supply effect in this system, and the use of dual power supply ensure that the supply of the energy;Four core systems are work
Four axle rare earth permanent magnet brushless DC servo control systems of work amount maximum give LM628 process, give full play to LM628 conduct
The effect of motor servo control processor, and DSP is given in position reading, path planning, information storage, Power Supply Monitoring and switching etc.
Process, master station by PLC in real time to ARM input position data, large arm based on Denavit-Hartenberg algorithm, forearm and
The functions such as the wrist anglec of rotation and the calculating of wrist lifting height, data storage are given ARM and are completed, and give full play at ARM data
The reason comparatively faster feature of speed, thus achieves the division of labor of ARM, DSP, LM628 and PLC, simultaneously ARM by RS485 with
PLC communication, carries out data exchange with main website and calls.
Under power-on state, ARM controller is first to robot stand-by power supply SOC(state-of-charge) and main power source carry out
Judging, if stand-by power source is relatively low, controller will send alarm signal by PLC to master station;If stand-by power supply and main electricity
Source is working properly, is first passed through PLC transporting goods large arm, forearm and the wrist anglec of rotation and adjustable height by master station
Or each coordinate information copying goods mechanically inputs to ARM, then calculated the parameter of robot servo's system by ARM;
Zero position sensor EM1, EM2, EM3 and EM4 that SCARA robot carries start working, and make robot reset to set zero-bit
Putting, robot enters self-locking state;After once carrying command starts, avoidance sensor that robot carries, alignment sensor and
Acceleration transducer is all opened, and SCARA robot is according to setting the transport path fast removal that ARM optimizes, DSP Yu LM628 leads to
News, LM628 according to servo parameter and sensor feedback adjust in real time SCARA robot rare earth permanent magnet brushless DC servomotor X,
Rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servomotor
The PWM output of R, it is achieved the real-time servo of four rare earth permanent magnet brushless DC servomotors controls, DSP Real-time Collection robot fortune
Dynamic information also stores cargo location information;If ARM has a question to carrying some position, will pass through with DSP communication, DSP
LM628 makes SCARA robot stop, and then manually judges DSP storage information, confirms that errorless rear master station is controlled by PLC
Device secondary processed manually starts the task that SCARA robot continues to be not fully complete.
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 PLC 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 then robot starts correcting zero position, SCARA robot
Magnetoelectric transducer EM1, EM2, EM3 and EM4 of carrying start working, and each find the zero position mark of setting, when magnetoelectricity passes
When sensor EM1, EM2, EM3 and EM4 all have signal to export, DSP blocks four road rare earth permanent magnet brushless DC servo electricity by LM628
The PWM wave control signal of machine, SCARA robot guides zero position to reset automatically, now ARM controller sets each rotation
Gyration, 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 adjacent
Position auto-control between 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
Angle, owing to solvingWhen equation have bilingual, so SCARA robot obtains large arm, forearm and wrist needs
The angle rotated,,And SCARA robot wrist needs the height of risingAfter, ARM controller can be to solving result
It 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
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 LM628 work, and 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 servomotor
Y, rare earth permanent magnet brushless DC servomotor Z and motor rare earth permanent magnet brushless DC servomotor R work, robot is self-locking in former
Ground, dsp controller secondary judges the obstacle information in range of movement, prevents information from judging by accident.
7) if dsp controller determines that clear enters moving region, dsp controller is bent according to the Velocity Time of Fig. 7
Movement position is decomposed by line, and DSP is first three anglecs of rotation,,It is converted into three rare earth permanent magnet brushless DCs
The acceleration of servomotor, speed and position initial order value, then DSP Yu LM628 communication, LM628 combines motor X, motor Y
Feed back with the photoelectric encoder of motor Z, through LM628 internal servo regulation Program Generating motor X, motor Y and the PWM ripple of motor Z
Control signal, PWM wave control signal amplifies each motor movement of rear drive through drive axle.Dsp controller is big according to input deviation
The pid parameter of the internal SERVO CONTROL program of little real-time adjustment LM628, LM628 controller is by adjusting rare earth permanent magnet brushless DC
The number of drive pulses of servomotor adjusts its anglec of rotation, by adjusting rare earth permanent magnet brushless DC Serve Motor Control signal
Frequency realize the change of angular velocity speed, make three axle rare earth permanent magnet brushless DC servomotor timing synchronization work, DSP moment
The location parameter that recorder people has moved.
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.On obstacle
After thing disappears, recalculate the anglec of rotation to new position,,, 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, set point is eventually arrived at.
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, DSP is three anglec of rotation deviations,,It is converted into three
The acceleration of rare earth permanent magnet brushless DC servomotor fine position, speed and position initial order value, then DSP and LM628
Communication, LM628 combines motor X, motor Y and the feedback of motor Z motor photoelectric encoder feedback, through LM628 internal servo regulation
The PWM wave control signal of Program Generating motor X, motor Y and motor Z, PWM wave control signal through drive axle amplify rear drive each
Motor movement.Dsp controller adjusts the pid parameter of the internal SERVO CONTROL program of LM628 in real time according to input deviation size,
LM628 controller adjusts its anglec of rotation by the number of drive pulses adjusting rare earth permanent magnet brushless DC servomotor, passes through
The frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal realizes the change of angular velocity speed, by three axle rare earths forever
The task again of magnetic brushless DC servomotor makes robot's arm, forearm and wrist arrive setting position.
12) angle is completed when large arm, forearm and the wrist of SCARA robot,,Angle compensation arrive set position
Postponing, 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. 7, distance to be lifted for wristIt is converted into rare earth permanent magnet brushless DC
The acceleration of servomotor R, speed and position initial order value, then DSP Yu LM628 communication, LM628 combines motor R photoelectricity
The feedback of encoder, through the PWM wave control signal of internal servo regulation Program Generating motor R, PWM wave control signal is through drive axle
Amplify each motor movement of rear drive.Dsp controller adjusts the internal SERVO CONTROL program of LM628 in real time according to input deviation size
Pid parameter, dsp controller by adjust rare earth permanent magnet brushless DC servomotor number of drive pulses adjust its anglec of rotation
Degree, is realized the change of angular velocity speed, makes wrist by the frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal
Within the setting time, steadily arrive setting position.
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, then by main website according to storing letter
Breath is analyzed, and after analysis, main website inputs new operating position information by PLC to ARM controller.
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) 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.
17) 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.
18) 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.
19) 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, DSP blocks four road rare earth permanent magnet brushless DC servo electricity by LM628
The PWM wave control signal of machine, SCARA robot guides zero position to reset automatically, SCARA robot according to Fig. 7 speed-
Time curve movement realizes the playback from certain point to zero-bit, 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 (4)
1. a underloading four core quick articulated robot control system, it is characterised in that described articulated robot uses rare earth forever
Magnetic brushless DC servomotor X driven machine people's large arm rotary motion, employing rare earth permanent magnet brushless DC servomotor Y drive machine
Device people's forearm rotary motion, employing rare earth permanent magnet brushless DC servomotor Z driven machine human wrist rotary motion, employing rare earth
DC permanent-magnetic brushless servomotor R driven machine human wrist elevating movement, described robot's arm is provided with avoidance displacement and passes
Sensor S1, avoidance displacement transducer S2 and acceleration transducer A1, described robot forearm is provided with avoidance displacement transducer
S3, avoidance displacement transducer S4 and acceleration transducer A2, described robot wrist is provided with alignment sensor S5 and acceleration
Degree sensors A 3, described control system includes that main website controls computer and controller, and described controller includes dsp chip control
Device, integrated chip processor, PlC controller and ARM controller, described dsp chip controller, PlC controller and integrated chip
Processor all controls compunication with described main website and is connected, described dsp chip controller, integrated chip processor and ARM control
Device processed is communicatively connected to each other, and described PlC controller communicates to connect with ARM controller, described rare earth permanent magnet brushless DC servo electricity
Machine X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servo
Motor 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 add
Velocity sensor A3 communicates to connect with described dsp chip controller and ARM controller all simultaneously.
Underloading four 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.
Underloading four core the most according to claim 1 quick articulated robot control system, it is characterised in that described rare earth is forever
Magnetic brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth
The even photoelectric encoder that is provided with on DC permanent-magnetic brushless servomotor R, described photoelectric encoder and described dsp chip controller electricity
Property connect.
4. according to the underloading four 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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