CN106003063A - Heavy-load quad-core constant-velocity joint robot control system - Google Patents

Abstract

The invention discloses a heavy-load quad-core constant-velocity joint robot control system. The control system comprises a main station control computer and a controller, wherein the controller comprises a DSP chip controller, a voice recognition processor, a PLC controller and an ARM controller; the DSP chip controller and the ARM controller are in communication connection with the main station control computer respectively; the DSP chip controller is in communication connection with the ARM controller; four permanent magnet synchronous servo motors are in communication connection with the DSP chip controller; a plurality of obstacle avoidance displacement sensors, a positioning sensor S5, an acceleration sensor A1, an acceleration sensor A2 and an acceleration sensor A3 are in communication connection with the DSP chip controller and the ARM controller. The heavy-load quad-core constant-velocity joint robot control system is high in calculation speed, so that the joint robot arm is flexible to swerve, stable and accurate to act and small in size; the system is stable in performance and high in interference resistance.

Description

A kind of heavily loaded four core constant speed articulated robot control systems

Technical field

The present invention relates to a kind of heavily loaded four core constant speed articulated robot control systems, 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 four core constant speed articulated robot control systems, and this is heavy Carrying four core constant speed articulated robot control systems, 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 four core constant speed joint machines Device people's control system, described articulated robot uses permanent magnet synchronous servo motor X driven machine people's large arm rotary motion, uses forever Magnetic-synchro servomotor Y driven machine people's forearm rotary motion, employing permanent magnet synchronous servo motor Z driven machine human wrist rotate Motion, employing permanent magnet synchronous servo motor R driven machine human wrist elevating movement, described robot's arm is provided with avoidance position Displacement sensor S1, avoidance displacement transducer S2 and acceleration transducer A1, described robot forearm is provided with avoidance displacement and passes Sensor S3, avoidance displacement transducer S4 and acceleration transducer A2, described robot wrist is provided with alignment sensor S5 and Acceleration transducer A3, described control system includes that main website controls computer and controller, and described controller includes dsp chip Controller, voice recognition processor, PlC controller and ARM controller, described dsp chip controller, PlC controller and voice Recognition processor all with described main website control compunication be connected, described dsp chip controller, voice recognition processor and ARM controller is communicatively connected to each other, and described PlC controller communicates to connect with ARM controller, described permanent magnet synchronous servo motor X, Permanent magnet synchronous servo motor Y, permanent magnet synchronous servo motor Z and permanent magnet synchronous servo motor R all lead to described dsp chip controller Letter connects, 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 connection.

In a preferred embodiment of the present invention, also include the master that power supply is provided for described articulated robot and control system Controller in power supply and stand-by power supply, each described motor in described articulated robot and sensor and control system is equal It is electrically connected with described main power source and/or stand-by power supply.

In a preferred embodiment of the present invention, described permanent magnet synchronous servo motor X, permanent magnet synchronous servo motor Y, permanent magnetism The even photoelectric encoder that is provided with on synchronous servo motor Z and permanent magnet synchronous servo motor R, described photoelectric encoder and described DSP Chip controller is electrically connected with.

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 four core constant speed 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.

Accompanying drawing explanation

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings Accompanying drawing, wherein:

Fig. 1 is tradition SCARA robot controller schematic diagram；

Fig. 2 is based on four axle permanent magnet synchronous servo motor SCARA robot two-dimensional structure figures；

Fig. 3 is based on four core four axle permanent magnet synchronous servo motor SCARA robot controller schematic diagrams；

Fig. 4 is based on four core four axle permanent magnet synchronous servo motor SCARA robot program's block diagrams；

Fig. 5 is based on four core four axle permanent magnet synchronous servo motor motion principle figures；

Fig. 6 is four spindle motor acceleration and deceleration curves figures；

Fig. 7 is the heavy duty four core constant speed 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, permanent magnet synchronous servo motor X, 8, permanent magnet synchronous servo motor Y, 9, permanent magnetism Synchronous servo motor Z, 10, permanent magnet synchronous servo motor R, 11, photoelectric encoder, 12, avoidance displacement transducer S1,13, avoidance Displacement transducer S2,14, avoidance displacement transducer S3,15, avoidance displacement transducer S4,16, alignment sensor S5,17, accelerate Degree sensors A 1,18, acceleration transducer A2,19, acceleration transducer A3,20, PLC, 21, magnetoelectric transducer EM1, 22, magnetoelectric transducer EM2,23, magnetoelectric transducer EM3,24, magnetoelectric transducer EM4,25, voice recognition 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. 7, the embodiment of the present invention includes: a kind of heavily loaded four core constant speed articulated robot control systems, should Machine artificially SCARA robots based on four axle permanent magnet synchronous servo motors, the most described articulated robot uses permanent-magnet synchronous to watch Take motor X7 driven machine people's large arm rotary motion, use permanent magnet synchronous servo motor Y8 driven machine people's forearm rotary motion, Use permanent magnet synchronous servo motor Z9 driven machine human wrist rotary motion, use permanent magnet synchronous servo motor R10 driven machine Human wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1 12, avoidance displacement transducer S2 13 With acceleration transducer A1 17, described robot forearm is provided with avoidance displacement transducer S3 14, avoidance displacement transducer S4 15 and acceleration transducer A2 18, described robot wrist is provided with alignment sensor S5 16 and acceleration transducer A3 19。

Described control system includes that main website controls computer 1 and controller 2, and described controller 2 includes dsp chip control Device 3, voice recognition processor 25, PlC controller 20 and ARM controller 4, described dsp chip controller 3, PlC controller 20 and Voice recognition processor 25 all controls computer 1 with described main website and communicates to connect, at described dsp chip controller 3, speech recognition 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 permanent magnetism is same Step servomotor X7, permanent magnet synchronous servo motor Y8, permanent magnet synchronous servo motor Z9 and permanent magnet synchronous servo motor R10 are all and institute State dsp chip controller 3 to communicate to connect, described avoidance displacement transducer S1 12, avoidance displacement transducer S2 13, avoidance displacement Sensor S3 14, avoidance displacement transducer S4 15, alignment sensor S5 16, acceleration transducer A1 17, acceleration sensing Device A2 18 and acceleration transducer A3 19 controls with described dsp chip controller 3, voice recognition processor 25, PLC all simultaneously Device 20 and ARM controller 4 communicate to connect.

Preferably, the heavy duty four core constant speed 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 permanent magnet synchronous servo motor X 7, permanent magnet synchronous servo motor Y 8, permanent magnet synchronous servo motor Z The even photoelectric encoder 11 that is provided with on 9 and permanent magnet synchronous servo motor R10, described photoelectric encoder 11 and described dsp chip control Device 3 processed is electrically connected with.

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)+voice recognition processor (chip model is LD3320)+PLC Controller 20+ ARM controller (STM32F746) four core carries out system control.The controller principle of the present invention is: panel with DSP(TMS320F28335) being processor core, ARM (STM32F746) realizes goods carrying from any to additionally any big Arm, forearm, the wrist anglec of rotation and the calculating of wrist lifting height, and the interim carrying that real-time response master station is inputted by PLC The interruption of goods and data based on LD3320 speech recognition input, and and DSP(TMS320F28335) communication, DSP (TMS320F28335) free in the middle of complicated work, DSP(TMS320F28335) realize four axle permanent magnet synchronous servos The real-time control of motor, and respond ARM interruption, it is achieved data communication and storage live signal.

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 base In LD3320 speech recognition system transporting goods large arm, forearm and the wrist anglec of rotation and lifting information inputs to ARM, by ARM calculates the parameter queue of robot servo's system；Zero position sensor EM1, EM2, EM3 that SCARA robot carries and EM4 starts working, and makes robot first reset to set zero position, subsequently into self-locking state；After once carrying command starts, machine Avoidance sensor, alignment sensor and acceleration transducer that device people carries all are opened, and SCARA robot is excellent according to setting ARM The transport path fast removal changed, DSP adjusts SCARA robot permanent-magnet synchronous in real time according to servo parameter and sensor feedback and watches Take the PWM output of motor X, permanent magnet synchronous servo motor Y, permanent magnet synchronous servo motor Z and permanent magnet synchronous servo motor R, it is achieved The real-time servo of four permanent magnet synchronous servo motors controls, and DSP Real-time Collection robot motion's information also stores cargo location letter Breath, if ARM has a question to carrying some position, will be with DSP communication, DSP sends cutoff command makes SCARA robot stop Car, then manually judges carrying information, confirms that what errorless rear secondary manually started that SCARA robot continues to be not fully complete appoints Business.In robot kinematics, if running into emergency, main website will control life by microphone apparatus to controller input Order, with ARM communication after speech recognition device LD3320 identification, has ARM with DSP communication, DSP, main website order to be converted into respectively after processing The control signal of individual permanent magnet synchronous servo motor.

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 that four permanent magnet synchronous servo motor work, motor input PWM ripple are blocked, alarm sensor by work and sends report simultaneously Alert signal；If battery SOC is normal, SCARA robot 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 permanent magnet synchronous servo motors, and SCARA robot draws automatically Leading zero position to have resetted, now ARM controller sets each anglec of rotation, wrist lifting height。

4) in order to meet the acceleration and deceleration needs of SCARA robot, the present invention uses such as the movement time ladder diagram of Fig. 6, this The area that ladder diagram comprises is exactly robot's arm, forearm and wrist angle to be rotated or the height of wrist lifting, for The control, the present invention is facilitated to use 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 forward according to Denavit-Hartenberg algorithm and solves: ARM controller is first according to SCARA Robot's arm, forearm and wrist need the angle rotated,,And SCARA robot wrist needs the height of risingCalculate the position auto-control between adjacent two member coordinates,,,And with 4*4 two-dimensional array mark,,,,It is expressed as follows respectively:

,,

,。

Then formula is passed throughJust can obtain wrist executor complete the position after task and Attitude, then ARM Yu DSP communication, and transmit be manually entered parameter.

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, by main website input SCARA robot's arm, forearm and Initial position residing for wrist and given position three-dimensional coordinate are to ARM controller, and ARM controller is according to Denavit- It is Converse solved that Hartenberg algorithm starts robot: ARM controller is first according to large arm, forearm lengths and final three-dimensional X and Y coordinates in coordinate obtain the angle that large arm needs to rotate, and byValue obtainValue, and according to three-dimensional sit Z coordinate in mark obtains the height that wrist rises or reduces, finally obtain the anglec of rotation, owing to solvingWhen Equation has bilingual, so SCARA robot obtains the angle that large arm, forearm and wrist need to rotate,,And SCARA robot wrist needs the height risenAfter, solving result can be optimized by ARM controller, and then ARM controls Device and DSP communication, most have servo motion parameter to be transferred to dsp controller in robot.

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 will open, and first SCARA robot wants zero setting position to judge, after confirming that initial position is errorless, and SCARA robot pair Barrier in each turning arm anglec of rotation judges, will send interrupt requests to DSP as there is barrier, and DSP can be right Interrupt doing very first time response, then block four axle PWM wave control signal outputs, forbid that the permanent-magnet synchronous of SCARA robot is watched Take motor X, permanent magnet synchronous servo motor Y, permanent magnet synchronous servo motor Z and motor permanent magnet synchronous servo motor R work, robot Being self-locking in original place, dsp controller secondary judges the obstacle information in range of movement, prevents information from judging by accident.

8) if dsp controller determines that clear enters moving region, according to the speed time curve of Fig. 6, DSP is three The individual anglec of rotation,,It is converted into the acceleration of three permanent magnet synchronous servo motors, speed and position initial order value, so Rear DSP combines the anti-of motor X, motor Y and motor Z current of electric feedback, acceleration transducer, gyroscope and photoelectric encoder Feedback, through internal three closed loop permanent magnet synchronous servo motors based onVector controlled program adjust motor X, motor Y and electricity in real time The PWM wave control signal of machine Z, dsp controller adjusts internal SERVO CONTROL program in real time according to the deviation size that three closed loops input Pid parameter, by adjust permanent magnet synchronous servo motor number of drive pulses adjust its anglec of rotation, by adjust permanent magnetism with The frequency of step Serve Motor Control signal realizes the change of angular velocity speed, makes three axle permanent magnet synchronous servo motor timing synchronization works Make, the location parameter that DSP moment recorder people 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, the large arm of SCARA robot, forearm and wrist are stood according to the curve movement of Fig. 6 I.e. stopping, dsp controller records present rotation angel degree,,Information, after waiting barrier to disappear, recalculates new position The anglec of rotation put,,, then according to the curve of Fig. 6 is again through three sections of movement locus: accelerated motion, uniform motion And retarded motion, eventually arrive at set point.

10) in moving process, the angular acceleration that accelerometer and gyroscope moment record large arm, forearm and wrist rotate And angular velocity, and the anglec of rotation obtaining large arm, forearm and wrist is contrasted by integration, and compared with the position angle angle value set Relatively, if deviation is more than setting threshold values, in the next sampling period, dsp controller is according to internal three closed loop permanent magnet synchronous servos Motor based onVector controlled program adjust permanent magnet synchronous servo motor X, permanent magnet synchronous servo motor Y, permanent-magnet synchronous are watched Taking the pwm control signal of motor Z, dsp controller adjusts internal servo control processing procedure in real time according to the deviation size that three closed loops input The pid parameter of sequence, adjusts its anglec of rotation by the number of drive pulses adjusting permanent magnet synchronous servo motor, by adjusting permanent magnetism The frequency of synchronous servo motor control signal realizes the change of angular velocity speed, and then eliminates the mistake of a sampling period generation Difference, makes SCARA robot complete 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 Permanent magnet synchronous servo motor X, the angle that permanent magnet synchronous servo motor Y, permanent magnet synchronous servo motor Z are to be run, angle speed Degree and angular acceleration instruct, and dsp controller is in conjunction with current of electric feedback, acceleration transducer, gyroscope and photoelectric encoder Feedback, according to its internal three closed loops based onVector controlled servo programe obtain three permanent magnet synchronous servo motors Pwm control signal signal, dsp controller adjusts internal SERVO CONTROL program in real time according to the deviation size that three closed loops input Pid parameter, adjusts its anglec of rotation by the number of drive pulses adjusting permanent magnet synchronous servo motor, by adjusting permanent-magnet synchronous The frequency of Serve Motor Control signal realizes the change of angular velocity speed, makes SCARA robot 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, is converted into permanent magnet synchronous servo electricity remaining angle with DSP communication, DSP after processing Machine X, angle, angle rates and the angular acceleration that permanent magnet synchronous servo motor Y, permanent magnet synchronous servo motor Z are to be run refer to Order, dsp controller is in conjunction with current of electric feedback, acceleration transducer, gyroscope and the feedback of photoelectric encoder, according in it Portion three closed loop based onVector controlled servo programe readjust the pwm control signal of three permanent magnet synchronous servo motors Signal, 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, ARM process after with DSP communication, DSP according to requirement down time, in conjunction with current of electric feedback, acceleration transducer, Gyroscope and the feedback of photoelectric encoder, according to its internal three closed loops based onVector controlled servo programe readjust The pwm control signal signal of three permanent magnet synchronous servo motors, makes robot be quickly completed parking, and dsp controller is by accelerating Angle that degree and gyro sensor real time record robot rotate also stores.After main website completes maintenance, pass through LD3320 Speech recognition system starts order to ARM input, and with DSP communication after ARM process, DSP is according to acceleration time requirement, remaining The angle that angle is converted into permanent magnet synchronous servo motor X, permanent magnet synchronous servo motor Y, permanent magnet synchronous servo motor Z are to be run Degree, angle rates and angular acceleration instruction, dsp controller is in conjunction with current of electric feedback, acceleration transducer, gyroscope and light The feedback of photoelectric coder, according to its internal three closed loops based onVector controlled servo programe readjust three permanent magnetism with The pwm control signal signal of step servomotor, makes 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 Degree and the integrated value of gyro sensor, if it find that three rotations after motor process is by external interference of SCARA robot Angle,,When exceeding setting threshold values with the error of set angle, DSP is three anglec of rotation deviations,,Be converted into the acceleration of three permanent magnet synchronous servo motor fine position, speed and position initial order value, DSP in conjunction with Motor X, motor Y and motor Z current of electric feedback, acceleration transducer, gyroscope and the feedback of photoelectric encoder, in DSP Portion three closed loop based onVector controlled servo programe adjust motor X, motor Y and the PWM wave control signal of motor Z, DSP Controller adjusts the pid parameter of internal SERVO CONTROL program in real time according to the deviation size that three closed loops input, by adjusting permanent magnetism The number of drive pulses of synchronous servo motor adjusts its anglec of rotation, by adjusting the frequency of permanent magnet synchronous servo motor control signal Rate realizes the change of angular velocity speed, by the task again of three axle permanent magnet synchronous servo motors make robot's arm, forearm and Wrist arrives setting position.

15) angle is completed when large arm, forearm and the wrist of SCARA robot,,Angle compensation arrive set Behind position, the sensor EM4 in wrist will be again turned on, and first SCARA robot wants zero setting position to judge, confirm initial After position is errorless, DSP is according to the speed time curve of Fig. 6, distance to be lifted for wristIt is converted into permanent magnet synchronous servo electricity The acceleration of machine R, speed and position initial order value, then DSP combine the current of electric feedback of motor R, acceleration transducer, Gyroscope and the feedback of photoelectric encoder and the feedback of sensor S5, through internal three closed loops based onVector controlled servo Program adjusts the PWM wave control signal of motor R in real time, in dsp controller adjusts in real time according to the deviation size that three closed loops input The pid parameter of portion's SERVO CONTROL program, adjusts its anglec of rotation by the number of drive pulses adjusting permanent magnet synchronous servo motor, Realized the change of angular velocity speed by the frequency adjusting permanent magnet synchronous servo motor control signal, make wrist steadily when setting Interior arrival setting position.

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 blocks four permanent magnetism immediately The control signal of synchronous servo motor, the then self-locking of robot original place, and abandon carrying work, then by main website according to storing letter Breath is analyzed, and after analysis, main website inputs by PLC or based on LD3320 speech recognition system to ARM controller New operating position information.

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 completed currently outstanding task by DSP, DSP is former in ARM renewal simultaneously Some servo control parameter queues, and transmit new servo position parameter to DSP, make DSP next one servo control Complete 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 Calculate error, in the next sampling period, DSP by internal three closed loop permanent magnet synchronous servo motors based onVector Error is compensated by control program, eliminates cumulative errors in time.

19) permanent magnet synchronous servo motor X, permanent magnet synchronous servo motor Y, permanent magnet synchronous servo motor Z, permanent-magnet synchronous it are contained in Photoelectric encoder on servomotor R can export its position signalling A and position signalling B, the position signalling A pulse of photoelectric encoder Often change once with B pulsed logic state, the location register in DSP and ARM can add 1 according to the traffic direction of motor or Subtract 1；When the position signalling A pulse of photoelectric encoder and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal To DSP and ARM internal register, the absolute position of record permanent magnet synchronous servo motor, it is then convert into the SCARA machine National People's Congress Arm, forearm or the wrist particular location in three-dimensional coordinate system, ARM controller in real time by PLC and main website communication, Important location parameter is transferred to main website.When magnetoelectric transducer EM1, EM2 and EM3 read transducing signal, dsp controller will be with Zero position parameter replaces existing location parameter, eliminates 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 Permanent magnet synchronous servo motor provides energy, and adjusts four permanent magnetism in real time by the internal three closed loop servo-control system programs of DSP The PWM output of synchronous servo motor, adjusts its anglec of rotation by the number of drive pulses adjusting permanent magnet synchronous servo motor, logical The frequency crossing adjustment permanent magnet synchronous servo motor control signal realizes the change of angular velocity speed, makes SCARA robot complete this Secondary carrying task, then SCARA robot carries out communication by PLC and main website, and notifies that 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 permanent magnet synchronous servo motor, the permanent magnet synchronous servo motor moment used due to the present invention and current of electric In direct ratio, therefore controller can be easy to compensate this interference, and adjust the PID ginseng of electric current loop in real time according to interference size DSP Number, decreases the motor torque disturbance impact on SCARA robot kinematics.

22) a series of task is completed when SCARA robot, it is achieved during the zero of position, the acceleration transducer A1 that it carries ~ A3, gyroscope G1 ~ G3, magnetoelectric transducer EM1, EM2, EM3 and EM4 can work in the moment, first have acceleration transducer and gyroscope Detect its acceleration and speed, when acceleration and speed exceed pre-set threshold value, on next cycle dsp controller can be revised The error that one cycle brings, when magnetoelectric transducer EM1, EM2, EM3, EM4 all have signal to export, DSP blocks four road permanent magnetism The PWM wave control signal of synchronous servo motor, SCARA robot guides zero position to reset automatically, SCARA robot according to The Velocity-time curve movement of Fig. 6 realizes the playback from certain point to zero-bit zero-bit self-locking, waits next group motion command team Row.

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 four core constant speed articulated robot control system, it is characterised in that described articulated robot uses permanent magnetism same Step servomotor X driven machine people's large arm rotary motion, employing permanent magnet synchronous servo motor Y driven machine people's forearm rotate fortune Move, use permanent magnet synchronous servo motor Z driven machine human wrist rotary motion, use permanent magnet synchronous servo motor R driven machine Human wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1, avoidance displacement transducer S2 and acceleration Degree sensors A 1, described robot forearm is provided with avoidance displacement transducer S3, avoidance displacement transducer S4 and acceleration passes Sensor A2, described robot wrist is provided with alignment sensor S5 and acceleration transducer A3, and described control system includes Main website controls computer and controller, described controller include dsp chip controller, voice recognition processor, PlC controller and ARM controller, described dsp chip controller, PlC controller and voice recognition processor all control computer with described main website and lead to Letter connects, and described dsp chip controller, voice recognition processor and ARM controller are communicatively connected to each other, described PlC controller Communicate to connect with ARM controller, described permanent magnet synchronous servo motor X, permanent magnet synchronous servo motor Y, permanent magnet synchronous servo motor Z All communicate to connect with described dsp chip controller with permanent magnet synchronous servo motor R, described avoidance displacement transducer S1, avoidance position Displacement sensor S2, avoidance displacement transducer S3, avoidance displacement transducer S4, alignment sensor S5, acceleration transducer A1, acceleration Degree sensors A 2 and acceleration transducer A3 communicate to connect with described dsp chip controller and ARM controller all simultaneously.

Heavily loaded four core constant speed articulated robot control systems the most according to claim 1, 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 four core constant speed articulated robot control systems the most according to claim 1, it is characterised in that described permanent magnetism is same Walk even on servomotor X, permanent magnet synchronous servo motor Y, permanent magnet synchronous servo motor Z and permanent magnet synchronous servo motor R being provided with Photoelectric encoder, described photoelectric encoder is electrically connected with described dsp chip controller.

4. according to the heavy duty four core constant speed 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.