CN110757467A - Control method of multi-degree-of-freedom industrial robot based on single chip microcomputer - Google Patents
Control method of multi-degree-of-freedom industrial robot based on single chip microcomputer Download PDFInfo
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- CN110757467A CN110757467A CN201911288212.3A CN201911288212A CN110757467A CN 110757467 A CN110757467 A CN 110757467A CN 201911288212 A CN201911288212 A CN 201911288212A CN 110757467 A CN110757467 A CN 110757467A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The invention discloses a control method of a multi-degree-of-freedom industrial robot based on a single chip microcomputer, which belongs to the technical field of single chip microcomputer control methods and comprises the steps of initializing a port and executing serial communication setting; waiting for receiving a command; acquiring a command judgment command type; sending the control command to a corresponding control command of the control module; and acquiring the state of the corresponding execution command and resetting to the state of waiting for receiving the command. The invention meets the modern development of the country, can enable each small and medium-sized factory to select the industrial robot of the type for production, and the control method executed by the single chip microcomputer is more convenient, so that the working efficiency and the precision of the industrial robot are improved.
Description
Technical Field
The invention relates to a control method, in particular to a control method of a multi-degree-of-freedom industrial robot based on a single chip microcomputer, and belongs to the technical field of single chip microcomputer control methods.
Background
Along with the expansion of the application range of the industrial robot, the robot is not only suitable for the traditional manufacturing industry, but also can be developed in high-tech fields such as aviation, nuclear energy, medicine, biochemistry and the like, and the robot can gradually develop in high-risk industries so as to replace the situation that certain dangerous industries still need manual operation, and the robot can tend to be more household, and the robot gradually appears in human families, so that the human civilization is enriched.
In the prior art, the industrial robot is matched with a precision part, and the requirement of assembly precision cannot be met, so that the industrial robot needs a human hand to carry out assembly. Along with the development of the existing aerospace, the size of a workpiece is larger and larger, the size cost for expanding the robot is too high, but the idea can be changed, and the size of the robot is reduced, so that the robot can directly work on the workpiece.
Although industrial robots in China have a fierce development trend, 80% of used industrial robots are foreign industrial robots, under the support of policies in China, China has an organization and planned development of the industrial robot industry, through research and development, production, manufacturing and the like, certain breakthroughs are made in the technology, certain key components can be produced, and the development of industrial robots in China has the following trend:
the industrial robot intelligent standard does not form a set of feasible system design standard and national standard at present in China, and system integration and transformation of industrial robots in China are facilitated after the system design standard and the national standard are formed.
The line forming complete equipment technology is that the industrial robots of various production enterprises in China are still in a development stage and a semi-robot semi-manual stage at present, different industrial robots are required to be used according to process requirements, the system reliability technology is adopted, and the establishment of a system reliability guarantee system is the key for guaranteeing the realization of industrial words of the robots.
The development of the robot in China has a certain gap compared with that of foreign countries, and as a high and new technology, the development of the robot is closely related to the social situation of China, so that the distance between the countries can be continuously shortened by the industrial robot in China only by fitting the actual life.
In the prior art, a plurality of types of control systems of the industrial robot are used, a single chip microcomputer is commonly used as a micro control chip to realize the control of the industrial robot, and the control method can cause the execution process to be too complex and not high-efficient enough, so that the control method of the multi-degree-of-freedom industrial robot based on the single chip microcomputer is designed to optimize the problems.
Disclosure of Invention
The invention mainly aims to provide a control method of a multi-degree-of-freedom industrial robot based on a single chip microcomputer, which is small in size, convenient to implement and high in control precision.
The purpose of the invention can be achieved by adopting the following technical scheme:
a control method of a multi-degree-of-freedom industrial robot based on a single chip microcomputer is applied to the single chip microcomputer and comprises the following steps:
step 1: initializing a port;
step 2: performing a serial communication setting;
and step 3: waiting for receiving a command; judging whether receiving command, entering step 4, resetting to waiting for receiving command
And 4, step 4: acquiring a command judgment command type;
and 5: sending the control command to a corresponding control command of the control module; if the single chip microcomputer sends a motion command, the single chip microcomputer controls a steering engine according to the motion command, the motion command enters a signal modulation chip through a motion control module to be modulated to obtain direct current bias voltage, a reference circuit in the signal modulation chip generates a reference signal with the period of 20ms and the width of 1.5ms, the obtained direct current bias voltage is compared with the reference signal to obtain voltage difference output, and finally the positive and negative voltage difference output is sent to a motor driving chip of the motion control module to determine the positive and negative rotation of a motor, so that the robot can move;
step 6: and acquiring the state of the corresponding execution command and resetting to the state of waiting for receiving the command.
Preferably, the command category in step 4 includes a base rotation command, an arm lifting command, a wrist rotation command, a robot jaw release command, and a robot motion command.
Preferably, when the base rotation instruction is judged, if the base rotation instruction is judged to be yes, a base rotation control instruction is output, a corresponding driving assembly is started to drive the base to rotate to a specified position, a specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
Preferably, when the arm rotation instruction is judged, if the arm rotation instruction is judged to be yes, the arm rotation instruction is output, the corresponding driving assembly is started to drive the arm to rotate to the specified position, the specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
Preferably, when the arm lifting instruction is judged to be yes, the arm lifting instruction is output, the corresponding driving assembly is started to drive the arm to lift the arm to the specified position, the specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
Preferably, when the wrist rotation instruction is judged, if the wrist rotation instruction is judged to be yes, the wrist rotation instruction is output, the corresponding driving assembly is started to drive the wrist to rotate to the specified position, the specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
Preferably, when the mechanical claw loosening and closing instruction is judged, if the mechanical claw loosening and closing instruction is judged, a wrist rotating instruction is output, the corresponding driving assembly is started to loosen and close the claw to a specified position, a specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
Preferably, the base rotation operation, the arm lifting operation, the wrist rotation operation, the robot jaw release operation, and the robot motion are executed, and then the robot motion is transmitted to the serial communication device by serial distribution data and is subjected to a command waiting operation.
The invention has the beneficial technical effects that:
the invention provides a control method of a multi-degree-of-freedom industrial robot based on a single chip microcomputer, which selects the single chip microcomputer as a control system, completes the signal control of each control mechanism by writing programs into the single chip microcomputer, selects the single chip microcomputer as a motion control system, has small volume and high reliability, can be installed on the industrial robot to keep correct work, has no excessively heavy robot, has low voltage and low power consumption of the single chip microcomputer, has more I/O interfaces, meets the diversified production of enterprises, saves cost, has higher cost performance of the single chip microcomputer, short development period and mature development, can reduce cost, meets the modern development of China by selecting the single chip microcomputer as the motion control system, can enable small and medium-sized factories to select the industrial robot of the type for production, and is more convenient to execute the control method through the single chip microcomputer, the control method has the advantages that the working efficiency and the precision of the industrial robot are improved, meanwhile, the robot is controlled to move, the motion control instruction is sent to the steering engine through the single chip microcomputer, then the motion control instruction is decoded to obtain the direct-current bias voltage, the direct-current bias voltage is compared with the reference signal to determine the voltage difference to realize the control of the motor, the control method is simple, and the control accuracy is high.
Drawings
Fig. 1 is a flowchart of a control procedure of a preferred embodiment of a control method of a multi-degree-of-freedom industrial robot based on a single chip microcomputer according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
As shown in fig. 1, the method for controlling a multiple-degree-of-freedom industrial robot based on a single chip microcomputer provided in this embodiment is applied to the single chip microcomputer, and is characterized by comprising the following steps:
step 1: initializing a port;
step 2: performing a serial communication setting;
and step 3: waiting for receiving a command; judging whether receiving command, entering step 4, resetting to waiting for receiving command
And 4, step 4: acquiring a command judgment command type;
and 5: sending the control command to a corresponding control command of the control module; if the single chip microcomputer sends a motion command, the single chip microcomputer controls a steering engine according to the motion command, the motion command enters a signal modulation chip through a motion control module to be modulated to obtain direct current bias voltage, a reference circuit in the signal modulation chip generates a reference signal with the period of 20ms and the width of 1.5ms, the obtained direct current bias voltage is compared with the reference signal to obtain voltage difference output, and finally the positive and negative voltage difference output is sent to a motor driving chip of the motion control module to determine the positive and negative rotation of a motor, so that the robot can move; in this embodiment, the dc bias voltage is formed by connecting the output end of the signal modulation chip to the common emitter amplification circuit, and the signal modulation chip and the common emitter amplification circuit adopt the existing circuit structures.
Step 6: and acquiring the state of the corresponding execution command and resetting to the state of waiting for receiving the command.
In this embodiment, the command types in step 4 include a base rotation command, an arm lifting command, a wrist rotation command, a robot jaw release command, and a robot motion command.
In this embodiment, if the base rotation instruction is judged to be yes, the base rotation control instruction is output, the corresponding driving assembly is started to drive the base to rotate to the specified position, the specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
In this embodiment, if the arm rotation instruction is judged to be yes, the arm rotation instruction is output, the corresponding driving assembly is started to drive the arm to rotate to the specified position, the specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
In this embodiment, if the judgment result is yes, the arm lifting instruction is output, the corresponding driving assembly is started to drive the arm to lift to the specified position, the specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
In this embodiment, if the wrist rotation instruction is judged to be yes, the wrist rotation instruction is output, the corresponding driving assembly is started to drive the wrist to rotate to the specified position, the specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
In the embodiment, when the robot claw loosening and closing instruction is judged, if the robot claw loosening and closing instruction is judged, a wrist rotation instruction is output, the corresponding driving assembly is started to loosen and close the claw to the specified position, the specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
In the present embodiment, after performing the base rotation operation, the arm lifting operation, the wrist rotation operation, the robot gripper release operation, and the robot movement operation, the serial communication device transmits serial issue data to the serial communication device and waits for a command reception operation.
In this embodiment, a single chip microcomputer is used as a micro control chip to execute the above commands, wherein the single chip microcomputer includes a Central Processing Unit (CPU), an I/O interface, a timer/counter, a terminal system, and the like. Although the single chip is only one chip, the single chip has the characteristics of a microcomputer system from the aspect of composition and logic operation function, and compared with a microcomputer, the single chip is smaller in size and can be embedded into the system to serve as a control decision center, so that the system is intelligentized. Next, the main components of the single chip microcomputer will be briefly described.
A CPU: the device comprises an arithmetic unit, a controller and a plurality of registers; the control system is a core component controlled by a single chip microcomputer, and achieves control of information by processing and calculating some instructions or information in a memory and performing feedback adjustment on the information.
A memory: divided into program memory (ROM) and data memory (RAM). The program memory is generally used for storing fixed programs and data, and is characterized in that the programs can be stored for a long time after being written, and the program data can not be lost after power failure. The data memory is generally used to store various data.
I/O interface: the I/O interface (i.e., input/output interface) is responsible for implementing the CPU to connect the I/O circuitry and peripheral devices together via the system bus.
Timer/counter: the single chip microcomputer is provided with an internal timing function and an external counting function, the functions are that when the timing and counting reach the end point, interruption is generated, and the CPU temporarily interrupts the executed program segment at the moment.
In this embodiment, the single chip microcomputer adopts the model IAP15W4K61S4, and the working voltage: 2.5V-5.5V; the working frequency is as follows: 30 MHZ; the system has 7 timers/counters, 5 16-bit timers/counters and 2 timers/counters; 4K on-chip RAM data registers; the main product characteristics of a 61K program memory (ROM) IAP15W4K61S4 singlechip are as follows: the power consumption is low, and the performance is high; the volume is small and the function is complete; the price is low, integrates the degree height, and self-contained simulator can simulate at the system, can program in the system. The voltage is wide, and the power supply is protected.
The IAP15W4K61S4 single chip microcomputer realizes the basic functions of the robot, designs and develops programs for the single chip microcomputer, selects C language for programming, writes the programs by using Keil C51 software, connects a main control board with a computer after writing the programs by using the Keil C51 software, and records the programs into the single chip microcomputer after setting corresponding ports after connecting.
All modules of the industrial robot are connected with the single chip microcomputer, the single chip microcomputer is used for outputting signals finally, the control over the whole system is achieved, the movement of the robot is controlled, the transmission signals of the handle are collected through the receiver, the signals are received and processed by the single chip microcomputer, and therefore the single chip microcomputer controls the steering engine according to the transmitted information to enable the robot to move.
The whole programming process needs to be better programmed in the programming process, and the drawing process flow chart has clear structure, strong logic and easy understanding, thereby helping program writing.
The steering engine is controlled by the single chip microcomputer, a control signal enters a signal modulation chip from a channel of a receiver to obtain direct current bias electricity, a reference circuit is arranged in the steering engine, a reference signal with the period of 20ms and the width of 1.5ms is generated, the obtained direct current bias voltage is compared with the voltage of a potentiometer to obtain voltage difference output, finally, the positive and negative voltage difference output is sent to a motor driving chip to determine the positive and negative rotation of a motor, when the rotating speed of the motor is constant, the potentiometer is driven to rotate through a cascade reduction gear, the voltage difference is 0, and the motor stops rotating, so that the steering engine is controlled.
The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.
Claims (8)
1. A control method of a multi-degree-of-freedom industrial robot based on a single chip microcomputer is applied to the single chip microcomputer and is characterized by comprising the following steps:
step 1: initializing a port;
step 2: performing a serial communication setting;
and step 3: waiting for receiving a command; judging whether receiving command, entering step 4, resetting to waiting for receiving command
And 4, step 4: acquiring a command judgment command type;
and 5: sending the control command to a corresponding control command of the control module; if the single chip microcomputer sends a motion command, the single chip microcomputer controls a steering engine according to the motion command, the motion command enters a signal modulation chip through a motion control module to be modulated to obtain direct current bias voltage, a reference circuit in the signal modulation chip generates a reference signal with the period of 20ms and the width of 1.5ms, the obtained direct current bias voltage is compared with the reference signal to obtain voltage difference output, and finally the positive and negative voltage difference output is sent to a motor driving chip of the motion control module to determine the positive and negative rotation of a motor, so that the robot can move;
step 6: and acquiring the state of the corresponding execution command and resetting to the state of waiting for receiving the command.
2. The method for controlling the multi-degree-of-freedom industrial robot based on the single chip microcomputer according to claim 1, wherein the method comprises the following steps: and 4, the command types comprise a base rotation command, an arm lifting command, a wrist rotation command, a robot claw loosening and closing command and a robot movement command.
3. The method for controlling the multi-degree-of-freedom industrial robot based on the single chip microcomputer according to claim 2, wherein the method comprises the following steps: and if the base rotation instruction is judged to be yes, outputting a base rotation control instruction and starting a corresponding driving assembly to drive the base to rotate to a specified position, acquiring a specified position signal and stopping operation through the single chip microcomputer.
4. The method for controlling the multi-degree-of-freedom industrial robot based on the single chip microcomputer according to claim 2, wherein the method comprises the following steps: and if the judgment result is yes, outputting an arm rotation instruction, starting a corresponding driving assembly to drive the arm to rotate to a specified position, acquiring a specified position signal and stopping operation through the single chip microcomputer.
5. The method for controlling the multi-degree-of-freedom industrial robot based on the single chip microcomputer according to claim 2, wherein the method comprises the following steps: and if the judgment result is yes, outputting an arm lifting instruction, starting a corresponding driving assembly to drive the arm to lift to the specified position, acquiring a specified position signal and stopping operation through the single chip microcomputer.
6. The method for controlling the multi-degree-of-freedom industrial robot based on the single chip microcomputer according to claim 2, wherein the method comprises the following steps: and if the wrist rotation instruction is judged to be yes, the wrist rotation instruction is output, a corresponding driving assembly is started to drive the wrist to rotate to a specified position, a specified position signal is obtained, and the operation is stopped through the single chip microcomputer.
7. The method for controlling the multi-degree-of-freedom industrial robot based on the single chip microcomputer according to claim 2, wherein the method comprises the following steps: and if the mechanical claw loosening and closing instruction is judged, outputting a wrist rotation instruction, starting a corresponding driving assembly to loosen and close the claw to a specified position, acquiring a specified position signal and stopping operation through the single chip microcomputer.
8. The method for controlling the multi-degree-of-freedom industrial robot based on the single chip microcomputer according to any one of claims 2 to 7, wherein: and executing base rotation operation, arm lifting operation, wrist rotation operation, robot claw loosening and closing operation, sending the robot motion to a serial communication device through serial issued data, and waiting for command receiving operation.
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