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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
mechanical arm
signal
chip
feedback control
motion control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910204624.8A
Other languages
Chinese (zh)
Inventor
陈忠
洪潮
吴淇森
张宪民
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
South China University of Technology SCUT
Original Assignee
South China University of Technology SCUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by South China University of Technology SCUT filed Critical South China University of Technology SCUT
Priority to CN201910204624.8A priority Critical patent/CN109968356A/en
Publication of CN109968356A publication Critical patent/CN109968356A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic

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

Mechanical arm force-feedback control system and method based on Embedded Motion
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.
CN201910204624.8A 2019-03-18 2019-03-18 Mechanical arm force-feedback control system and method based on Embedded Motion Pending CN109968356A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910204624.8A CN109968356A (en) 2019-03-18 2019-03-18 Mechanical arm force-feedback control system and method based on Embedded Motion

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910204624.8A CN109968356A (en) 2019-03-18 2019-03-18 Mechanical arm force-feedback control system and method based on Embedded Motion

Publications (1)

Publication Number Publication Date
CN109968356A true CN109968356A (en) 2019-07-05

Family

ID=67079342

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910204624.8A Pending CN109968356A (en) 2019-03-18 2019-03-18 Mechanical arm force-feedback control system and method based on Embedded Motion

Country Status (1)

Country Link
CN (1) CN109968356A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110752798A (en) * 2019-11-01 2020-02-04 湖南凯杰科技有限责任公司 Multi-shaft multifunctional motor position decoding system based on ZYNQ
CN111665752A (en) * 2020-05-27 2020-09-15 中国核电工程有限公司 FPGA-based loading and unloading machine motion control system and method
CN111805538A (en) * 2020-06-18 2020-10-23 北京卫星制造厂有限公司 Robot real-time motion planning method based on force feedback
CN112207829A (en) * 2020-10-10 2021-01-12 北京创想智控科技有限公司 Robot control method and device and readable storage medium

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102402188A (en) * 2010-09-14 2012-04-04 天津理工大学 Realization method for reconfigurable general controller of non-standard numerical equipment
CN106344341A (en) * 2016-08-29 2017-01-25 哈尔滨工业大学 Embedded system of hand rehabilitation robot
CN107696583A (en) * 2017-10-26 2018-02-16 常州数控技术研究所 The control system and its application method of fully-automatic intelligent glue sprayer
CN107867056A (en) * 2016-09-26 2018-04-03 张思鑫 A kind of pressure-sensitive adhesive trade mark printing machine
CN108161939A (en) * 2017-12-29 2018-06-15 深圳市越疆科技有限公司 Flexible barrier-avoiding method, system and the terminal device of a kind of mechanical arm
CN109459955A (en) * 2018-11-21 2019-03-12 华南理工大学 It reads, decode system and method in multi-axis servo motor position based on FPGA

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102402188A (en) * 2010-09-14 2012-04-04 天津理工大学 Realization method for reconfigurable general controller of non-standard numerical equipment
CN106344341A (en) * 2016-08-29 2017-01-25 哈尔滨工业大学 Embedded system of hand rehabilitation robot
CN107867056A (en) * 2016-09-26 2018-04-03 张思鑫 A kind of pressure-sensitive adhesive trade mark printing machine
CN107696583A (en) * 2017-10-26 2018-02-16 常州数控技术研究所 The control system and its application method of fully-automatic intelligent glue sprayer
CN108161939A (en) * 2017-12-29 2018-06-15 深圳市越疆科技有限公司 Flexible barrier-avoiding method, system and the terminal device of a kind of mechanical arm
CN109459955A (en) * 2018-11-21 2019-03-12 华南理工大学 It reads, decode system and method in multi-axis servo motor position based on FPGA

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
张淑红等: "PCL6045B运动控制芯片控制模式的研究", 《广西轻工业》 *
王丽: "基于ARM+FPGA的经济型工业机器人嵌入式控制器设计", 《电子科技》 *
赵岩等: "基于ARM+DSP+FPGA模块的机器人运动控制器设计", 《机电信息》 *
陈大亮等: "ARM+PCL6045B 的嵌入式运动控制器设计", 《单片机与嵌入式应用》 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110752798A (en) * 2019-11-01 2020-02-04 湖南凯杰科技有限责任公司 Multi-shaft multifunctional motor position decoding system based on ZYNQ
CN110752798B (en) * 2019-11-01 2022-03-29 中电凯杰科技有限公司 Multi-shaft multifunctional motor position decoding system based on ZYNQ
CN111665752A (en) * 2020-05-27 2020-09-15 中国核电工程有限公司 FPGA-based loading and unloading machine motion control system and method
CN111665752B (en) * 2020-05-27 2022-09-27 中国核电工程有限公司 FPGA-based loading and unloading machine motion control system and method
CN111805538A (en) * 2020-06-18 2020-10-23 北京卫星制造厂有限公司 Robot real-time motion planning method based on force feedback
CN111805538B (en) * 2020-06-18 2022-01-04 北京卫星制造厂有限公司 Robot real-time motion planning method based on force feedback
CN112207829A (en) * 2020-10-10 2021-01-12 北京创想智控科技有限公司 Robot control method and device and readable storage medium

Similar Documents

Publication Publication Date Title
CN109968356A (en) Mechanical arm force-feedback control system and method based on Embedded Motion
CN103753534B (en) A kind of Movement Controller of Mobile Robot and control method thereof
CN104339354B (en) A kind of special motion controller hardware platform for 6DOF parallel robot
CN105242640B (en) A kind of novel high-speed, high precision multiple-axis servo motion controller circuit
CN103984275B (en) A kind of universal industrial kinetic control system based on FPGA and control method based on this kinetic control system
CN102615638B (en) Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot
CN102540982B (en) Motion control card and motion control method
CN107765629A (en) A kind of DELTA2 robot control systems based on Soft- PLC and EtherCAT buses
CN203077287U (en) Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot
CN104589367A (en) Modular robot driver based on EtherCAT and control method
CN103085054A (en) Hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and method thereof
CN204832853U (en) Many interfaces motion control ware
CN110480658A (en) A kind of six-joint robot control system merging vision self-calibration
CN201163363Y (en) General multi-axis motion control system on numerical control machine
CN206224181U (en) A kind of multiple-axis servo drive system position feedback data interface card based on FPGA
CN100535812C (en) Drive and connecting apparatus of full digital numerical control system
CN106227097B (en) Multibus multi-axis motion controller
CN103699051A (en) Wireless telecontrol system
CN105446166B (en) Machine tool of numerical control system environmental simulation instrument
CN104536330A (en) Data communication device for absolute value encoder with SSI
CN202145273U (en) Multi-axis numerical control system
CN101089763B (en) Miniature servo control system based on field base and method
CN102339037B (en) Multi-axis numerical control system
CN104730274A (en) Programmed multifunctional rotation speed signal conversion device
CN201107641Y (en) Full digital numerical control system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20190705