CN109968356A - Mechanical arm force-feedback control system and method based on Embedded Motion - Google Patents
Mechanical arm force-feedback control system and method based on Embedded Motion Download PDFInfo
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- CN109968356A CN109968356A CN201910204624.8A CN201910204624A CN109968356A CN 109968356 A CN109968356 A CN 109968356A CN 201910204624 A CN201910204624 A CN 201910204624A CN 109968356 A CN109968356 A CN 109968356A
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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
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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Abstract
The invention discloses a kind of mechanical arm force-feedback control system and method based on Embedded Motion, the mechanical arm force-feedback control system includes: six axis light-type mechanical arm bodies, encoder for servo motor, motor servo driver, strain-type spoke sensor, embedded motion control board, pulse interface, ARM9 chip, PCL6045B chip, fpga chip, host computer, interface circuit, resistance strain gauge, ADC analog-digital converter, ADS1256 module, the mechanical arm force-feedback control method includes the steps that manipulator motion controls, the step of multi-axis servo motor position decoding, the step of torque sensor signal processing.Mechanical arm force-feedback control system and method for the invention takes full advantage of the characteristic of embedded controller hard real-time, high anti-interference ability and high stability, it is intended to the control system be made to have the advantages of miniaturization, customizations and high control precision.
Description
Technical field
The present invention relates to the control of mechanical arm more particularly to a kind of mechanical arm force feedbacks based on Embedded Motion
Control system and method.
Background technique
Develop by more than 50 years technologies, robot technology has been permeated in manufacturing every field, becomes modern
Manufacture a part indispensable in chain.In early stage application, mechanical arm only plays the role of carrying or transfering part,
By programming Control, it executes range of motion, but does not have external sensible function.With mechanical arm and external environment
Reciprocation gradually increases, and is widely used in increasingly complex production environment, more and more external sensible performances, such as regards
Feel, tactile and power feel perception, are added in mechanical arm controlling planning, automate mechanical arm more, is intelligent, precisely
Change, and has certain adaptivity to environment.Due to the increase of mechanical arm peripheral sensor quantity, machine is passed to from external environment
The information content of tool arm control system steeply rises, this proposes the data processing speed and load capacity of mechanical arm controller
Higher requirement.Mechanical arm control system is inevitable evolution trend to miniaturization, customizations development.
The development experience of mechanical arm controller by single CPU centerized fusion to second level CPU master slave control, then to more
These three stages of CPU distributed AC servo system.Currently, most of commercialization manipulator motion controller uses multi -CPU distributed AC servo system
Scheme, way of realization can be divided into " PC/IPC+ motion control card " and Embedded Motion.The control essence of mechanical arm
Degree is a pair of manufacture factor mutually restricted with cost requirement.By embedded technology, controller soft and hardware can closely be melted
It closes, so that motion controller be made to become more to minimize, and it is made to have high stability, high performance-price ratio and high anti-jamming capacity,
It is suitable for modern industrial production environment.System by being embedded in hard real-time, can make controller have outstanding control real-time
Property, stability, control precision and opening.In practical applications, mating friendly human-computer interaction interface can be developed, makes up " PC/
The deficiency of IPC+ motion control card " mode.Currently, the mechanical arm control system for being widely used in computer control starts to be intended to
It is transplanted on embeded processor, realizes the dedicated embedded mechanical arm control system for being detached from computer intervention.Accordingly, of the invention
It proposes that a kind of miniaturization, strong interference immunity, real-time is high, stability is high, there is parallel processing, multiaxis can be carried out to specific protocol
The synchronous decoding of servo motor location information and reading, can be to the customizations mechanical arm that specific torque sensor information is handled
Control system.
Summary of the invention
It is an object of the invention to propose a kind of mechanical arm force-feedback control system based on Embedded Motion and
Method is aided with FPGA using the Embedded Motion based on the dedicated motion chip framework of ARM9 microprocessor+PCL6045B
Chip realizes the exact position SERVO CONTROL and force-feedback control of mechanical arm.Under the premise of guaranteeing control precision and real-time,
The synchronous reading of multi-axis servo motor encoder absolute location information, decoding and processing and torque sensor signal may be implemented
Analog-to-digital conversion, reading and processing simplify circuit system.
To achieve the purpose of the present invention, The technical solution adopted by the invention is as follows:
One aspect of the present invention provides a kind of mechanical arm force-feedback control system based on Embedded Motion, comprising: six
Axis light-type mechanical arm body, encoder for servo motor, motor servo driver, strain-type spoke sensor, embedded movement
Control panel, pulse interface, ARM9 chip, PCL6045B chip, fpga chip, host computer, interface circuit, resistance-strain
Instrument, ADC analog-digital converter, the embedded motion control board 106 are electrical with host computer and motor servo driver respectively
Connection, the ARM9 chip and PCL6045B chip are mounted in embedded motion control board；The interface circuit respectively with
Host computer and the electrical connection of encoder for servo motor driver, the fpga chip is installed in interface circuit, for connecing
It receives, the absolute position signal that decoding and serialization are imported through interface circuit transformation, then the multiaxis absolute position after serialization
Information is sent to host computer by serial protocol；The strain-type spoke sensor is installed on six axis light-type mechanical arm bodies
It is intra-articular, and be successively electrically connected with resistance strain gauge and ADC analog-digital converter, for measuring joint moment electric signal；It is described
Resistance strain gauge and ADC analog-digital converter are for successively believing the joint moment converting electrical signal of input for analog signal and number
Number.
Further, access has multiple motor servo drivers simultaneously in power source loads allowed band；Turn in ADC modulus
Multiple strain-type spoke sensors are accessed in exchanger channel number allowed band simultaneously；
Further, the GPIO of the port GPIO and motor servo driver CN-1 of the embedded motion control board pulse interface
It corresponds；The stitch of the ARM9 chip carrier socket of the embedded motion control board and the GPIO of ARM9 chip are corresponded；Institute
The GPIO of the stitch and PCL6045B chip of stating the PCL6045B chip carrier socket of embedded motion control board is corresponded；It is described to connect
The stitch of the fpga chip socket of mouth circuit and the GPIO of fpga chip are corresponded.
Further, the input port one of the output port of the strain-type spoke sensor and resistance strain gauge is a pair of
It answers；The output port of the resistance strain gauge and the input port of ADC analog-digital converter correspond；The ADC analog-to-digital conversion
The GPIO of device and the expansion GPIO of fpga chip are corresponded.
Further, the interface circuit has digital signal input interface, fpga chip socket and host computer signal defeated
Outgoing interface；Analog signal is converted to digital signal using ADS1256 module by the ADC analog-digital converter.
Another aspect of the present invention provides a kind of mechanical arm force-feedback control method based on Embedded Motion, packet
Include step:
The step of manipulator motion controls: motion control instruction is sent to embedded motion control board by upper computer software；It is described
ARM9 chip reads and handles host computer motion control instruction, connects through PCL6045B chip output pulse signal to pulse
Mouthful；Pulse signal is sent to motor servo driver with private cable by the pulse interface of embedded motion control board；
The step of multi-axis servo motor position decoding: motor servo driver is with private cable by absolute position with serial electric signal
It is sent to interface circuit, after interface circuit carries out level translation as Transistor-Transistor Logic level, is sent to fpga chip；Fpga chip is read
It takes and handles and be output to host computer by serial protocol after signal；
The step of torque sensor signal processing: strain-type spoke sensor measures joint of mechanical arm torque electric signal, through resistance
Deformeter is converted to analog signal output to ADC analog-digital converter, and is converted into digital signal；ADC analog-digital converter is with dedicated
Digital signal is sent to fpga chip with serial electric signal by cable；Fpga chip reads and is output to upper meter after handling signal
Calculation machine realizes the force-feedback control to servo motor.
Further, the command signal of the host computer output, is transmitted to embedded control in a manner of LAN connection
Making sheet, agreement are ICP/IP protocol.
Further, the motion control instruction after ARM9 chip and PCL6045B chip processing, conversion, with pulse signal
Form output.
Further, embedded motion control board has host computer motion control instruction signal input interface, ARM9 chip
Socket, PCL6045B chip carrier socket and motor servo driver signal output interface.
Further, the upper computer software is logical with multiple motor servo drivers simultaneously through embedded motion control board
Letter, agreement is ICP/IP protocol；The output signal of the encoder for servo motor is absolute encoder signal, is driven through servo motor
It is exported after dynamic device coding and in the form of differential level, agreement RS485.
Compared with the prior art, the invention has the following advantages:
(1) present invention employs the motion controllers based on embedded microprocessor, instruction processing and arithmetic section are placed on embedding
Enter and executed on formula chip, has played the excellent data processing operation performance of embedded chip to the maximum extent, had system good
Good real-time.
(2) present invention uses the multi-axis servo motor encoder absolute location information decoding process based on FPGA.FPGA tool
Have it is programmable and can reclosing line characteristic, may replace part integrated circuit, reduce the system complexity of multi-axle motor reading, open
Hair is low with manufacturing cost, and maintenance is simple.
(3) present invention mechanical arm control system be added torque-feedback control, can real-time monitoring motor operating state, protect
Demonstrate,prove mechanical arm reliably working.
(4) system of the present invention is based on embedded controller technology, with traditional " PC/IPC+ motion control card " scheme
It compares, has higher real-time, stability and cost performance.
Detailed description of the invention
Fig. 1 is mechanical arm force-feedback control system structure diagram of the present invention.
Fig. 2 is the director data flow direction figure of manipulator motion control of the present invention.
Fig. 3 is motion control software on piece transplanting (SuSE) Linux OS worker thread flow graph of the present invention.
Fig. 4 is multi-axis servo motor position decoding modular coding device signaling protocol schematic diagram of the present invention.
Fig. 5 is torque sensor signal processing module data flow figure of the present invention.
It is shown in figure: six axis light-type mechanical arm body of 101-；102- servo motor；103- motor servo driver；
104- encoder for servo motor；The port 105- motor servo driver CN-1；The embedded motion control board of 106-；107- pulse connects
Mouthful；108- mechanical arm controls Electric Appliance Cabinet；109- host computer；110-FPGA pinboard；111-FPGA chip；112- interface electricity
Road；113- strain-type spoke sensor；114- resistance strain gauge；115-ADC analog-digital converter；116-FPGA expands GPIO；
401- absolute value circle numeric string；402- incremental value pulse train；403- initial character；404- turns to mark and circle number；405- number
According to tail.
Specific embodiment
For a better understanding of the present invention, the present invention is further described with reference to the accompanying drawing, but reality of the invention
It is without being limited thereto to apply mode.
As shown in Figure 1, a mechanical arm force-feedback control system based on Embedded Motion, including six axis light weights
Type mechanical arm body 101, servo motor 102, motor servo driver 103, encoder for servo motor 104, concrete model are
Embedded motion control board 106, the mechanical arm of ETH6045B type control Electric Appliance Cabinet 108, host computer 109, FPGA pinboard
110, strain-type spoke sensor 113, resistance strain gauge 114, ADC analog-digital converter 115.Servo motor 102 and strain-type wheel
Spoke sensor 113 is separately mounted to each joint of six axis light-type mechanical arm bodies 101；Encoder for servo motor 104 with
Private cable is connected with motor servo driver 103；The dedicated motion chip of ARM9 chip, PCL6045B and pulse interface 107 divide
It is not mounted on embedded motion control board 106, and two kinds of chips are connected by universaling I/O port with bus mode；Pulse interface
107 are connected with private cable with the port motor servo driver CN-1 105；Embedded motion control board 106 and servo motor drive
Dynamic device 103 is mounted in mechanical arm control Electric Appliance Cabinet 108；Embedded motion control board 106 is by network interface with Special electric
Cable is communicated with host computer 109, and communication protocol is ICP/IP protocol；Fpga chip 111,112 and of interface circuit
FPGA expands GPIO116 and is separately mounted on FPGA pinboard 110；Encoder for servo motor 104 is with private cable and interface electricity
Road 112 is connected；Strain-type spoke sensor 113 is connected with private cable with resistance strain gauge 114, defeated by resistance strain gauge 114
Signal out is input to FPGA through ADC analog-digital converter 115 with private cable and expands GPIO116.
In the specific implementation, made using day intrinsic safety river (YASKAWA) Motor Corporation Σ V series of servo motor and its driver
For driving element, using the science and technology production of Wuhan great mansion east based on ARM9 microcontroller and PCL6045B motion control chip equipment
ETH6045B type motion control board.ETH6045B type motion control board include ARM9 chip, PBL6045B chip, pulse interface and
Network interface.Using Mangotree production based on 6 fpga chip equipment Pocket- of Sai Lingsi (XILINX) Spartan
RIO.Pocket-RIO includes fpga chip and part of interface circuit.
Access has multiple motor servo drivers simultaneously in power source loads allowed band；In ADC analog-digital converter channel
Multiple strain-type spoke sensors are accessed simultaneously in number allowed band；The GPIO of the embedded motion control board pulse interface with
The GPIO of the port motor servo driver CN-1 is corresponded；The stitch of the ARM9 chip carrier socket of the embedded motion control board
It is corresponded with the GPIO of ARM9 chip；The stitch of the PCL6045B chip carrier socket of the embedded motion control board with
The GPIO of PCL6045B chip is corresponded；The stitch of the fpga chip socket of the interface circuit and the GPIO mono- of fpga chip
One is corresponding.The output port of the strain-type spoke sensor and the input port of resistance strain gauge correspond；The resistance
The output port of deformeter and the input port of ADC analog-digital converter correspond；The GPIO of the ADC analog-digital converter with
The expansion GPIO of fpga chip is corresponded.The interface circuit have digital signal input interface, fpga chip socket with it is upper
Position machine signal output interface；Analog signal is converted to digital signal using ADS1256 module by the ADC analog-digital converter.
A kind of mechanical arm force-feedback control method based on Embedded Motion, comprising steps of
The step of manipulator motion controls: motion control instruction is sent to embedded motion control board by upper computer software；It is described
ARM9 chip reads and handles host computer motion control instruction, connects through PCL6045B chip output pulse signal to pulse
Mouthful；Pulse signal is sent to motor servo driver with private cable by the pulse interface of embedded motion control board；
The step of multi-axis servo motor position decoding: motor servo driver is with private cable by absolute position with serial electric signal
It is sent to interface circuit, after interface circuit carries out level translation as Transistor-Transistor Logic level, is sent to fpga chip；Fpga chip is read
It takes and handles and be output to host computer by serial protocol after signal；
The step of torque sensor signal processing: strain-type spoke sensor measures joint of mechanical arm torque electric signal, through resistance
Deformeter is converted to analog signal output to ADC analog-digital converter, and is converted into digital signal；ADC analog-digital converter is with dedicated
Digital signal is sent to fpga chip with serial electric signal by cable；Fpga chip reads and is output to upper meter after handling signal
Calculation machine realizes the force-feedback control to servo motor.
The command signal of the host computer output, is transmitted to embedded control panel, agreement in a manner of LAN connection
For ICP/IP protocol.Motion control instruction after ARM9 chip and PCL6045B chip processing, conversion, with the shape of pulse signal
Formula output.Embedded motion control board have host computer motion control instruction signal input interface, ARM9 chip carrier socket,
PCL6045B chip carrier socket and motor servo driver signal output interface.The upper computer software is through embedded motion control board
It is communicated simultaneously with multiple motor servo drivers, agreement is ICP/IP protocol；The output signal of the encoder for servo motor is
Absolute encoder signal exports, agreement RS485 after motor servo driver encodes and in the form of differential level.
Director data flow direction such as Fig. 2 of manipulator motion control module shows, including ETH6045B type motion control board, movement
Instruction input unit, output of pulse signal unit.Host computer software by motion control instruction through Ethernet interface unit, with
TCP/IP communication agreement is transmitted to ETH6045B type motion control board.It is single to be buffered in SDRAM storage for the director data received
Member.It is completed on ETH6045B type motion control board by the process that director data is converted to pulse signal, mainly includes at instruction
Manage unit and output of pulse signal unit.Instruction process unit uses ARM9 microprocessor, is responsible for network communication, thread scheduling etc.
Management work.Output of pulse signal unit 206 uses PCL6045B special sport control chip, is responsible for the processing work of motion control
Make.Output of pulse signal unit receives the instruction that instruction process unit issues by dedicated bus interface unit, and generates pulse
Signal drives servo motor.Dedicated bus interface unit can realize data between instruction process unit and output of pulse signal unit
Real time bidirectional transmission.The pulse signal issued by output of pulse signal unit is sent to pulse signal by private cable and connects
Receive unit.
Manipulator motion control software section includes the embedded software of the end PC upper computer software and motion control board.The end PC
The upper computer software design mainly design including human-computer interaction interface, the reality of the compiling and interpreting of servo-drive instruction, keypress function
Existing, monitoring of motion state etc..By the operation of human-computer interaction interface, the ginseng such as starting speed, acceleration of motor can be set
Number, and multiaxial motion test is carried out, including straight line plug, circular arc plug etc..The Embedded Software Design of motion control board passes through
(SuSE) Linux OS is transplanted in ARM9 microprocessor on piece, it is convenient to which realization decodes servo-drive instruction, speed is pre-
The functions such as processing, rough interpolation calculating, and then control instruction is issued, control servo-system execution unit is acted, and realizes movement
Control.
The embedded software of motion control board is divided into non real-time domain and real-time domain.Non real-time domain is established in common Linux
On core basis, major function includes system initialization and communication module maintenance.Real-time domain is established in RTAI real-time kernel
On basis, the scheduling to real-time task is completed by way of safeguard real-time process.In conjunction with the function of this system
Demand, real-time domain mainly include that 4 periodical real-time threads are as shown in Figure 3:
(1) state-detection thread.This thread detects equipment running status, reads in each connection equipment from the port I/O
Then I/O value detects equipment state write state in buffer area, sentence to abnormal signals such as equipment emergency stop, servo alarms
It is disconnected, and make corresponding processing.
(2) interpolation thread.This thread sequentially takes out interpolation data from decoding buffer area, is then inserted according to straight line or circular arc
Order is mended, the theoretical coordinate value that next period should reach is calculated.
(3) position control thread.This thread reads the numerical value of encoder in counter, obtains working as encoder for servo motor
Front position is made comparisons with the theoretical position coordinate in interpolator, and corresponding PWM mouthfuls of umber of pulse is written in compensated pulse number and is deposited
In device.
(4) function control thread.This thread realizes the function of transmitting order and status information using the real-time pipeline of RTAI
Energy.By the way that pipeline order is arranged, access of the (SuSE) Linux OS to real-time partial RTAI is realized, to realize motion controller
The states setting such as operation, pause, given speed.
Encoder for servo motor sends motor servo driver by private cable for absolute position signal, and by as schemed
The coding of communications protocol shown in 4.Interface circuit, come the absolute position signal of output from driver, and passes through interface by private cable reception
Circuit carries out level conversion.The signal inputted in this embodiment from driver is RS485 level, the operation level of fpga chip GPIO
For TTL, conversion is completed by the linear one on interface circuit.Fpga chip is mounted in interface circuit by socket, wherein
Fpga chip includes with LabVIEW FPGA design and the decoding of the multiaxis of compiling and communication interface unit circuit.Inside fpga chip
Circuit is completed after receiving and handling, and can be serialized according to interfacing order to absolute position signal.The absolute position of serialization
Signal is sent by UART protocol by the upward position machine of serial ports reception cable by fpga chip.
As shown in figure 4, the composition form of the encoder absolute value signal in multi-axis servo motor position decoding module is exhausted
To value circle numeric string 401 and incremental value pulse train 402.The communications protocol for enclosing numeric string is UART, receives character sequence
Respectively correspond digit from high in the end in circle number；Incremental value pulse train is two-phase delta pulse.Encoder in this does not have
There is handshake line, FPGA circuitry needs voluntarily to detect the transmission position of data.Initial character (data head) 403 is raw for motor
Produce specific character " P " as defined in producer.It turns to mark and circle number 404 contains to represent and turns to positive and negative steering mark and integer circle
Count totally six characters.Wherein, it turns to and is identified as ASCII symbol "+", "-", circle number is the ACSII character that five ranges are 0 ~ 9.
Data tail 405 is the end for indicating circle number data and sending, i.e. " carriage return " for character " (CR) ".
The torque sensor signal processing module data flow is as shown in Figure 5.Strain-type spoke torque sensor 113 is surveyed
The joint moment electric signal obtained is converted through resistance strain gauge 114 with analog signal output to ADC analog-digital converter 115, and with string
Row data export to FPGA and expand GPIO116.It is number by the analog signal processing received by ADC analog-digital converter 115
Signal, and then force-feedback control is executed to servo motor.ADC analog-digital converter uses ADS1256 module, with fpga chip
111 communication modes are SPI protocol.The communication channel of both sides relies primarily on 4 lines, and respectively DIN(data input), DOUT
(data output), SCLK(clock), CS(piece choosing).The process communicated between ADS1256 module and fpga chip is as follows:
(1) original state is arranged.Before the analog signal for receiving resistance strain gauge input, the phase to ADS1256 module is needed
It closes parameter to be configured, i.e. setting programmable gain amplifier (PGA), output data rate, single channel input port and number letter
Number I/O mouthfuls of state of output.
(2) enter reading state.ADS1256 module original state after setting completed, first whether data are converted finish into
Row judgement.When/DRDY is in low level, the continuous order for reading data of DIN line write-in can be passed through.
(3) reading data and transmission.The data of ADS1256 module output are read, the output data is under clock pulses
Edge drops, and step-by-step is transmitted to fpga chip.
(4) data conversion and analysis.The Boolean data received is changed into numerical value, and maximum with the joint moment of setting
Value is compared.When joint of mechanical arm Moment exceeds normal range (NR), it need to send and instruct to motion-control module, control is watched
Take motor stalls.Only when joint of mechanical arm Moment is in normal range (NR), servo motor could drive load
Operation.
The present invention is directed to six axis light-type mechanical arms, proposes a kind of based on Embedded Motion realization force-feedback control
System design scheme.Present invention simultaneously relates to the mechanical arm force-feedback control methods based on Embedded Motion, including
Motion control step, the communication decoding step and strain-type spoke of servo motor and control device of six axis light-type mechanical arms
The communicating step of sensor and measuring device.Controller scheme proposed by the present invention has strong interference immunity, real-time high, steady
Qualitative high advantage, and specific servo motor communication protocol can be decoded, and specific torque sensor information is carried out
Processing, be it is a kind of miniaturization, customizations mechanical arm control system.
Multi-axis servo motor position decoding step of the invention uses the hardware circuit of LabVIEW FPGA design and compiling,
Realize reception, decoding and the transmission of multi-axis servo motor absolute position signal.Torque sensor signal processing step of the invention
Using strain-type spoke sensor, strain caused by the spoke stress of sensor is converted through signal processing, amplification and A/D, and
After FPGA acquisition, identification, processing, the force-feedback control of servo motor is realized.The mechanical arm force-feedback control system is sufficiently sharp
With the characteristic of embedded controller hard real-time, high anti-interference ability and high stability, it is intended to have the control system small-sized
The advantages of change, customizations and high control precision.
The above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to the present invention
Embodiment restriction.For those of ordinary skill in the art, it can also make on the basis of the above description
Other various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all of the invention
Made any modifications, equivalent replacements, and improvements etc., should be included in the protection of the claims in the present invention within spirit and principle
Within the scope of.
Claims (10)
1. a kind of mechanical arm force-feedback control system based on Embedded Motion, it is characterised in that: include: six axis light weights
Type mechanical arm body, encoder for servo motor, motor servo driver, strain-type spoke sensor, embedded motion control board,
Pulse interface, ARM9 chip, PCL6045B chip, fpga chip, host computer, interface circuit, resistance strain gauge, ADC mould
Number converter, it is characterized in that, the embedded motion control board electrically connects with host computer and motor servo driver respectively
It connects, the ARM9 chip and PCL6045B chip are mounted in embedded motion control board；The interface circuit respectively with it is upper
Bit machine and the electrical connection of encoder for servo motor driver, the fpga chip are installed in interface circuit, for receiving,
The absolute position signal that decoding and serialization are imported through interface circuit transformation, then the multiaxis absolute location information after serialization
Host computer is sent to by serial protocol；The strain-type spoke sensor is installed on six axis light-type mechanical arm body joints
It is interior, and be successively electrically connected with resistance strain gauge and ADC analog-digital converter, for measuring joint moment electric signal；The resistance
Deformeter and ADC analog-digital converter 115 are for successively believing the joint moment converting electrical signal of input for analog signal and number
Number.
2. mechanical arm force-feedback control system according to claim 1, it is characterized in that, it is same in power source loads allowed band
When access have multiple motor servo drivers；Access multiple strain-types simultaneously in ADC analog-digital converter port number allowed band
Spoke sensor.
3. mechanical arm force-feedback control system according to claim 1, it is characterized in that, the embedded motion control board arteries and veins
The GPIO for rushing the port GPIO and motor servo driver CN-1 of interface is corresponded；The ARM9 of the embedded motion control board
The stitch of chip carrier socket and the GPIO of ARM9 chip are corresponded；The PCL6045B chip carrier socket of the embedded motion control board
Stitch and PCL6045B chip GPIO correspond；The stitch and fpga chip of the fpga chip socket of the interface circuit
GPIO correspond.
4. mechanical arm force-feedback control system according to claim 1, it is characterized in that, the strain-type spoke sensor
The input port of output port and resistance strain gauge corresponds；The output port and ADC analog-to-digital conversion of the resistance strain gauge
The input port of device corresponds；The GPIO of the ADC analog-digital converter and the expansion GPIO of fpga chip are corresponded.
5. mechanical arm force-feedback control system according to claim 1, it is characterized in that, the interface circuit has number letter
Number input interface, fpga chip socket and host computer signal output interface；The ADC analog-digital converter uses ADS1256 module
Analog signal is converted to digital signal.
6. a kind of mechanical arm force-feedback control method based on Embedded Motion, wherein be, comprising steps of
The step of manipulator motion controls: motion control instruction is sent to embedded motion control board by upper computer software；It is described
ARM9 chip reads and handles host computer motion control instruction, connects through PCL6045B chip output pulse signal to pulse
Mouthful；Pulse signal is sent to motor servo driver with private cable by the pulse interface of embedded motion control board；
The step of multi-axis servo motor position decoding: motor servo driver is with private cable by absolute position with serial electric signal
It is sent to interface circuit, after interface circuit carries out level translation as Transistor-Transistor Logic level, is sent to fpga chip；Fpga chip is read
It takes and handles and be output to host computer by serial protocol after signal；
The step of torque sensor signal processing: strain-type spoke sensor measures joint of mechanical arm torque electric signal, through resistance
Deformeter is converted to analog signal output to ADC analog-digital converter, and is converted into digital signal；ADC analog-digital converter is with dedicated
Digital signal is sent to fpga chip with serial electric signal by cable；Fpga chip reads and is output to upper meter after handling signal
Calculation machine realizes the force-feedback control to servo motor.
7. mechanical arm force-feedback control method according to claim 6, it is characterized in that, the finger of the host computer output
Signal is enabled, embedded control panel is transmitted in a manner of LAN connection, agreement is ICP/IP protocol.
8. mechanical arm force-feedback control method according to claim 6, it is characterized in that, through ARM9 chip and PCL6045B core
Motion control instruction after piece processing, conversion, is exported in the form of pulse signal.
9. mechanical arm force-feedback control method according to claim 6, it is characterized in that, embedded motion control board has upper
Position machine motion control instruction signal input interface, ARM9 chip carrier socket, PCL6045B chip carrier socket and motor servo driver are believed
Number output interface.
10. mechanical arm force-feedback control method according to claim 6, it is characterized in that, the upper computer software is through being embedded in
Formula motion control board is communicated with multiple motor servo drivers simultaneously, and agreement is ICP/IP protocol；The encoder for servo motor
Output signal be absolute encoder signal, after motor servo driver encodes and in the form of differential level export, agreement
For RS485.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910204624.8A CN109968356A (en) | 2019-03-18 | 2019-03-18 | Mechanical arm force-feedback control system and method based on Embedded Motion |
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| CN201910204624.8A CN109968356A (en) | 2019-03-18 | 2019-03-18 | Mechanical arm force-feedback control system and method based on Embedded Motion |
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