CN105945959B - A kind of quick articulated robot control system of heavily loaded five core - Google Patents
A kind of quick articulated robot control system of heavily loaded five core Download PDFInfo
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- CN105945959B CN105945959B CN201610419537.0A CN201610419537A CN105945959B CN 105945959 B CN105945959 B CN 105945959B CN 201610419537 A CN201610419537 A CN 201610419537A CN 105945959 B CN105945959 B CN 105945959B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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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
- B25J9/1676—Avoiding collision or forbidden zones
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Abstract
The invention discloses a kind of heavily loaded quick articulated robot control systems of five core, the control system includes main website control computer and controller, the controller includes dsp chip controller, permanent magnet synchronous motor closed-loop control chip, voice recognition processor, PLC controller and ARM controller, dsp chip controller and ARM controller are communicated to connect with the main website control computer, it is communicated to connect between dsp chip controller and ARM controller, four rare-earth permanent-magnetic synchronous servo motors are communicated to connect with the dsp chip controller, multiple avoidance displacement sensors, alignment sensor, gyroscope and acceleration transducer are communicated to connect with the dsp chip controller and ARM controller.The quick articulated robot control system calculating speed of five core of heavy duty of the present invention is fast, and so that articulated robot arm is turned to, flexible, motion stability is accurate, compact, and performance is stablized, and system rejection to disturbance ability is strong.
Description
Technical field
The present invention relates to a kind of heavily loaded quick articulated robot control systems of five core, belong to four joint machines of assembling work
Device human arm application field.
Background technology
In the industrial production, industrial robot can be done instead of the mankind some are more dull, relatively frequently and repetitive rates compared with
High long working, or in operations dangerous, under adverse circumstances, be typically used as moving to take part and assembly work, in micro- electricity
It is widely answered in the fields such as sub- manufacturing industry, plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry
With it is for improving production automation level, labor productivity and economic benefit, ensureing product quality, guarantee personal safety, change
Kind work situation reduces labor intensity, save material consumption and reduction production cost etc. are of great significance to.
The robot arm of SCARA industrial robots, that is, assembling work is a kind of industrial robot of circular cylindrical coordinate type, it
The quick positioning in X-Y plane is realized by rotary joint large arm and forearm, by a wrist linear joint and a hand
Wrist rotary joint does flexible and rotary motion in z-direction, and for tool there are four freedom of motion, the manipulator of the series is dynamic at it
The four direction for making space has finite stiffness, and has infinitely great rigidity on remaining other two direction.This structure
Characteristic makes SCARA robots be good at from some crawl object, is then quickly placed to another point, therefore SCARA robots
It is widely used on production line for automatically assembling.SCARA robot architectures are compact, flexible movements, and speed is fast, position is smart
Degree is high, its use substantially increases adaptability of the robot to Complex Assembly task, while also reducing cost, improves work
Make space availability ratio.
SCARA robots want the moment to judge the location parameter of master controller input during transporting goods, and judge week
The environment moment avoidance enclosed, then by motion controller repetitive control, its accurate acceleration and deceleration are transported goods, slightly
Deviation accumulation be possible to more bouts move in cause transport fail.Although there is the use of SCARA robots in the country several
10 years, but since domestic industry robot develops starting than later, influenced by more key technology, SCARA robots
Development is also by being influenced, and traditional robot principle during long-time service as shown in Figure 1, great number of issues occur：
（1）Although DC permanent-magnetic brushless servo motor is compared with stepper motor, direct current generator and DC servo motor performance
Improve, but its start either low-speed motion when torque pulsation it is larger, cannot be satisfied high-precision SCARA robot systems and want
It asks.
（2）The control of brushless DC servomotor needs location information feedback to carry out electronic commutation, for this control system
For need 12 position sensors to carry out position feedbacks so that system hardware complexity increases.
（3）Although DC permanent-magnetic brushless servo motor is compared with stepper motor, direct current generator and DC servo motor performance
It improves, but its is relatively inefficient, cannot be satisfied SCARA robots energy conserving system.
（4）Although DC permanent-magnetic brushless servo motor is compared with stepper motor, direct current generator and DC servo motor performance
It improves, but its load capacity is relatively weak, cannot be satisfied heavily loaded SCARA robot systems requirement.
（5）When robot an emergency situation is encountered need to stop either stop after to start completed by button, machine
The degree of intelligence of people is not high.
Invention content
The invention mainly solves the technical problem of providing a kind of heavily loaded quick articulated robot control systems of five core, this is heavy
It is fast to carry the quick articulated robot control system calculating speed of five cores, make articulated robot arm turn to flexibly, motion stability it is accurate,
Compact, performance are stablized, and the work load capacity of robot can be improved, and robot is facilitated to be inserted into interim action.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of quick joint machine of heavily loaded five core is provided
Device people's control system, the articulated robot drive robot's arm rotary motion using rare-earth permanent-magnetic synchronous servo motor X, adopt
With the rotary motion of rare-earth permanent-magnetic synchronous servo motor Y driving robot forearms, using rare-earth permanent-magnetic synchronous servo motor Z driving machines
The rotary motion of device human wrist drives robot wrist's elevating movement, the machine National People's Congress using rare-earth permanent-magnetic synchronous servo motor R
Avoidance displacement sensor S1, avoidance displacement sensor S2, gyroscope and acceleration transducer A1, the robot are installed on arm
Avoidance displacement sensor S3, avoidance displacement sensor S4, gyroscope and acceleration transducer A2, the machine are installed on forearm
Alignment sensor S5, gyroscope and acceleration transducer A3 are installed, the control system includes main website control in human wrist
Computer and controller, the controller include dsp chip controller, permanent magnet synchronous motor closed-loop control chip, speech recognition
Processor, PlC controllers and ARM controller, the dsp chip controller, permanent magnet synchronous motor closed-loop control chip, PlC controls
Device and voice recognition processor processed are communicated to connect with the main website control computer, the dsp chip controller, permanent-magnet synchronous
Motor closed-loop control chip, voice recognition processor and ARM controller are communicatively connected to each other, and the PlC controllers are controlled with ARM
Device communicates to connect, the rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo electricity
Machine Z and rare-earth permanent-magnetic synchronous servo motor R is communicated to connect with the dsp chip controller, the avoidance displacement sensor S1,
Avoidance displacement sensor S2, avoidance displacement sensor S3, avoidance displacement sensor S4, alignment sensor S5, acceleration transducer
A1, acceleration transducer A2 and acceleration transducer A3 simultaneously with the dsp chip controller and ARM controller communication link
It connects.
In a preferred embodiment of the present invention, further include the master that power supply is provided for the articulated robot and control system
Power supply and stand-by power supply, the controller in each motor and sensor and control system in the articulated robot are equal
It is electrically connected with the main power source and/or stand-by power supply.
In a preferred embodiment of the present invention, the rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo electricity
It is even on machine Y, rare-earth permanent-magnetic synchronous servo motor Z and rare-earth permanent-magnetic synchronous servo motor R to be provided with photoelectric encoder, the photoelectricity
Encoder is electrically connected with the dsp chip controller.
In a preferred embodiment of the present invention, magnetoelectric transducer EM1, the machine are installed on the robot's arm
Magnetoelectric transducer EM2 is installed on people's forearm, magnetoelectric transducer EM3 and EM4, the magnetoelectricity are installed on the robot wrist
Sensor EM1, magnetoelectric transducer EM2, magnetoelectric transducer EM3 and EM4 are logical with the dsp chip controller and ARM controller
Letter connection.
The beneficial effects of the invention are as follows：The quick articulated robot control system calculating speed of five core of heavy duty of the present invention is fast,
So that articulated robot arm is turned to, flexible, motion stability is accurate, compact, and performance is stablized, and system rejection to disturbance ability is strong, noise
It is low, facilitate robot to be inserted into interim action, communicated by PLC between main website and ARM controller so that master station is controlled with ARM
Data communication and calling can be carried out between device processed in real time so that temporary duty addition movement queue is very simple, and main website passes through
Based on voice recognition processor to the either emergency start-stop order of ARM controller input temporary duty, reduce under the state of emergency
By the time of keyboard input order, robot working efficiency can be effectively improved, based on PLC controller and based on speech recognition
Two kinds of input modes make robot change task more convenient, and permanent magnet synchronous motor closed-loop control chip and dsp controller can
To carry out real-time control to rare-earth permanent-magnetic synchronous servo motor, reduce writing for servo control software so that control is simpler
It is single, arithmetic speed is substantially increased, scm software is solved and runs slower bottleneck, it is short to shorten the development cycle, and journey
Sequence portable ability is strong.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, wherein：
Fig. 1 is tradition SCARA robot controller schematic diagrams
Fig. 2 is based on four axis rare-earth permanent-magnetic synchronous servo motor SCARA robots two-dimensional structure figures
Fig. 3 is based on five core, four axis rare-earth permanent-magnetic synchronous servo motor SCARA robot controller principles
Fig. 4 is based on five core, four axis rare-earth permanent-magnetic synchronous servo motor SCARA robot program's block diagrams.
Fig. 5 is based on five core, four axis rare-earth permanent-magnetic synchronous servo motor motion principle figure
Fig. 6 is four spindle motor acceleration and deceleration curves figures；
Fig. 7 is the quick articulated robot control system architecture schematic diagram of five core of heavy duty of the present invention.
The label of each component is as follows in attached drawing：1, main website control computer, 2, controller, 3, dsp chip controller, 4,
ARM controller, 5, main power source, 6, stand-by power supply, 7, rare-earth permanent-magnetic synchronous servo motor X, 8, rare-earth permanent-magnetic synchronous servo motor
Y, 9, rare-earth permanent-magnetic synchronous servo motor Z, 10, rare-earth permanent-magnetic synchronous servo motor R, 11, photoelectric encoder, 12, avoidance displacement
Sensor S1,13, avoidance displacement sensor S2,14, avoidance displacement sensor S3,15, avoidance displacement sensor S4,16, positioning
Sensor S5,17, acceleration transducer A1,18, acceleration transducer A2,19, acceleration transducer A3,20, PLC controller,
21, magnetoelectric transducer EM1,22, magnetoelectric transducer EM2,23, magnetoelectric transducer EM3,24, magnetoelectric transducer EM4,25, voice knows
Other processor, 26, permanent magnet synchronous motor closed-loop control chip, 27, gyroscope.
Specific implementation mode
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
All other embodiment that technical staff is obtained without making creative work belongs to the model that the present invention protects
It encloses.
Fig. 2 to Fig. 7 is please referred to, the embodiment of the present invention includes：A kind of quick articulated robot control system of heavily loaded five core, should
SCARA robot of the machine artificially based on four axis rare-earth permanent-magnetic synchronous servo motors, i.e., the described articulated robot use rare earth forever
Magnetic-synchro servo motor X 7 drives robot's arm rotary motion, drives robot using rare-earth permanent-magnetic synchronous servo motor Y 8
Forearm rotary motion is driven robot wrist's rotary motion using rare-earth permanent-magnetic synchronous servo motor Z 9, is same using rare earth permanent magnet
It walks servo motor R 10 and drives robot wrist's elevating movement, avoidance displacement sensor S1 is installed on the robot's arm
12, avoidance displacement sensor S2 13, gyroscope 27 and acceleration transducer A1 17 are equipped with avoidance on the robot forearm
Displacement sensor S3 14, avoidance displacement sensor S4 15, gyroscope 27 and acceleration transducer A2 18, the robot
Alignment sensor S5 16, gyroscope 27 and acceleration transducer A3 19 are installed on wrist.
The control system includes main website control computer 1 and controller 2, and the controller 2 is controlled including dsp chip
Device 3, permanent magnet synchronous motor closed-loop control chip 26, voice recognition processor 25, PlC controllers 20 and ARM controller 4, it is described
Dsp chip controller 3, permanent magnet synchronous motor closed-loop control chip 26, PlC controllers 20 and voice recognition processor 25 are and institute
State the communication connection of main website control computer 1, the dsp chip controller 3, permanent magnet synchronous motor closed-loop control chip 26, voice
Recognition processor 25 and ARM controller 4 are communicatively connected to each other, and the PlC controllers 20 are communicated to connect with ARM controller 4.It is described
Rare-earth permanent-magnetic synchronous servo motor X7, rare-earth permanent-magnetic synchronous servo motor Y8, rare-earth permanent-magnetic synchronous servo motor Z9 and rare earth are forever
Magnetic-synchro servo motor R10 is communicated to connect with the dsp chip controller 3, the avoidance displacement sensor S1 12, avoidance
Displacement sensor S2 13, avoidance displacement sensor S3 14, avoidance displacement sensor S4 15, alignment sensor S5 16, accelerate
Spend sensors A 1 17, acceleration transducer A2 18 and acceleration transducer A3 19 simultaneously with the dsp chip controller 3,
Voice recognition processor 25, PLC controller 20 and ARM controller 4 communicate to connect.
Preferably, the quick articulated robot control system of five core of heavy duty of the invention further include for the articulated robot and
Control system provides the main power source 5 and stand-by power supply 6 of power supply, each motor and sensor in the articulated robot with
And the controller 2 in control system is electrically connected with the main power source 5 and/or stand-by power supply 6.
Preferably, the rare-earth permanent-magnetic synchronous servo motor X 7, rare-earth permanent-magnetic synchronous servo motor Y 8, rare earth permanent magnet are same
It is even on step servo motor Z 9 and rare-earth permanent-magnetic synchronous servo motor R10 to be provided with photoelectric encoder 11, the photoelectric encoder 11
It is electrically connected with the dsp chip controller 3.
Preferably, magnetoelectric transducer EM1 21 is installed on the robot's arm, is equipped on the robot forearm
Magnetoelectric transducer EM2 22 is equipped with magnetoelectric transducer EM3 23 and EM4 24, the magnetic-electric sensing on the robot wrist
Device EM1 21, magnetoelectric transducer EM2 22, magnetoelectric transducer EM3 23 and EM4 24 with the dsp chip controller 3 and ARM
Controller 4 communicates to connect.These magnetoelectric transducers read respective zero position mark respectively, detect signal when four
When, SCARA robots realize accurate reset, improve the accuracy of reset.
The present invention uses dsp controller 3（TMS320F2812）+ permanent magnet synchronous motor closed-loop control chip 26（I.e.
IRMCK203 controllers）+ voice recognition processor 25（Chip model is LD3320）+ PLC controller 20+ ARM controllers 4
（STM32F746）Five cores carry out system control.
Under power-on state, ARM controller first dynamically edits the key words list of LD3320, increases machine human speech
Sound discrimination, then to robot stand-by power supply SOC（State-of-charge）Judged with main power source, if stand-by power source is relatively low,
Controller can send out alarm signal；If stand-by power supply and main power source are working properly, first by master station by PLC controller either
Speech recognition system based on LD3320 transport goods large arm, forearm and wrist rotation angle and lifting information input to
Then ARM is calculated the parameter queue of robot servo system by ARM；The zero position sensor EM1 of SCARA robots carrying,
EM2, EM3 and EM4 start to work, and so that robot is reset to setting zero position, robot enters self-locking state；Once carrying command
After beginning, avoidance sensor, alignment sensor, acceleration transducer and gyroscope that robot carries are opened, SCARA machines
According to the transport path fast removal of setting ARM optimizations, DSP and IRMCK203 communicate people, IRMCK203 according to servo parameter and
Sensor feedback adjusts SCARA robots rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare earth in real time
The PWM of permanent magnet synchronous servo motor Z and rare-earth permanent-magnetic synchronous servo motor R are exported, and realize four rare-earth permanent-magnetic synchronous servo electricity
The real-time servo of machine controls, and DSP and ARM acquire robot movable information and store cargo location information in real time；If ARM is to removing
It transports some position to have a question, will be communicated with DSP, DSP makes SCARA robots stop by IRMCK203, then manually to DSP
Storage information is judged, confirms that errorless rear master station continues not completing by the secondary SCARA robots that manually start of PLC controller
Task.In robot kinematics, if an emergency situation is encountered, main website will be inputted to controller by microphone apparatus and be controlled
System order is communicated with ARM after speech recognition device LD3320 identifications, is communicated with DSP after ARM processing, DSP is converted into main website order
The control signal of each rare-earth permanent-magnetic synchronous servo motor.
Referring to Fig.1, Fig. 2, Fig. 3 and Fig. 4, Fig. 5, Fig. 6, specific function are realized as follows：
1）After SCARA robot power supplies are opened, in order to improve robot voice recognition effect, misrecognition is further decreased
Rate, ARM controller is first to the common number order of LD3320 input SCARA robots and instruction, for absorbing wrong identification, from
And achieve the purpose that reduce LD3320 false recognition rates.
2）ARM first judges stand-by power supply SOC and main power source state, if stand-by power supply SOC is relatively low, DSP will
The IRMCK203 work of four rare-earth permanent-magnetic synchronous servo motors of control, motor input PWM wave control signal is forbidden to be blocked, together
Alarm sensor will work and to master station and send out alarm signal by PLC controller；If battery SOC is normal, SCARA machines
People, which enters, waits for working condition, waits for work order.
3）Once master station's work order starts, master station can select based on the either PLC controls of LD3320 speech recognition systems
Device processed is communicated with ARM, any one controller can pass through the information such as the length of large arm, forearm lengths and elevating lever
RS485 is passed to ARM controller, then robot start correct zero position, SCARA robots carry magnetoelectric transducer EM1,
EM2, EM3 and EM4 start to work, and respectively find the zero position mark of setting, as magnetoelectric transducer EM1, EM2, EM3 and EM4
When having signal output, the PWM wave that DSP blocks four road rare-earth permanent-magnetic synchronous servo motors by IRMCK203 controls signal,
SCARA robots guide zero position to reset and complete automatically, ARM controller sets each rotation angle at this time,
Wrist lifting height。
4）In order to meet the acceleration and deceleration motion needs of SCARA robots, the present invention uses the run duration such as Fig. 6 trapezoidal
Figure, the area that this ladder diagram includes are exactly the height of robot's arm, forearm and the wrist angle to be rotated either wrist lifting
Degree controls for convenience, and the present invention uses single acceleration model.
5）SCARA robots read its operating mode, and if it is manual working pattern, master station can select to be based on LD3320
Speech recognition system either PLC controller is communicated with ARM, is needed by main website input SCARA robot's arms, forearm and wrist
The angle of rotation,,And SCARA robot wrists need to rise the height either declinedTo ARM controller,
ARM controller starts robot location according to Denavit-Hartenberg algorithms and posture forward direction solves：ARM controller is first
The angle for needing to rotate according to SCARA robot's arms, forearm and wrist,,And SCARA robot wrists need
The height of risingCalculate the position auto―control between adjacent two member coordinates,,,, it is used in combination respectively
With 4*4 two-dimensional array marks,,,,It indicates respectively as follows：
,,
,。
Then ARM controller passes through formulaWrist actuator can be found out and complete task
Position afterwards and posture, and communicated with DSP, artificial input parameter is transmitted to DSP.
6）SCARA robots read its operating mode, and if it is normal automatic transporting operating mode, main website can select
It is communicated with ARM based on LD3320 speech recognition systems either PLC controller, by first residing for input SCARA robots of main website
Beginning position and given position three-dimensional coordinate to ARM controller, ARM controller starts machine according to Denavit-Hartenberg algorithms
Device people is Converse solved：ARM controller is found out according to the X and Y coordinates in large arm, forearm lengths and final three-dimensional coordinate first
Large arm needs the angle rotated, and byValue find outValue, and wrist is found out according to the Z coordinate in three-dimensional coordinate
The height for rising or reducing, finally find out rotation angle, due to solvingWhen equation have it is bilingual, so
SCARA robots find out large arm, forearm and wrist and need the angle rotated,,And SCARA robot wrists need
The height of risingAfterwards, ARM controller can optimize solving result, and then ARM controller is communicated with DSP, robot
Most there is servo motion parameter to be transferred to dsp controller.
7）Dsp controller receives SCARA robot's arms, forearm and wrist and needs the angle rotated,,And
SCARA robot wrists need the height risenAfterwards, sensor S1 ~ S5 in large arm, forearm and wrist, EM1, EM2 and
EM3 will be opened, and SCARA robots want zero setting position to be judged first, after confirming that initial position is errorless, SCARA robots pair
Barrier in each rotating arm rotation angle is judged that such as there is barrier will send out interrupt requests to DSP, and DSP can be right
Interruption is done to be responded at the first time, and then DSP forbids four axis IRMCK203 work, four axis rare-earth permanent-magnetic synchronous servo motor PWM waves
Control signal is blocked, and SCARA robots forbid rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, dilute
Native permanent magnet synchronous servo motor Z and the R work of motor rare-earth permanent-magnetic synchronous servo motor, robot self-locking is in situ, dsp controller
Obstacle information in secondary judgement motion range, prevents information from judging by accident.
8）If dsp controller determines that clear enters moving region, dsp controller is bent according to the Velocity Time of Fig. 6
Line decomposes movement position, and DSP is first three rotation angles,,It is converted into three rare-earth permanent-magnetic synchronous servos
Acceleration, speed and the position initial order value of motor, then DSP and IRMCK203 communications, IRMCK203 combination motors X, electricity
The photoelectric encoder of machine Y and motor Z are fed back, and Program Generating motor X, motor Y and motor Z are adjusted through servo inside IRMCK203
PWM wave controls signal, and PWM wave control signal drives each motor movement after drive axle amplifies.Dsp controller is inclined according to input
Poor size adjusts the PI parameters of SERVO CONTROL program inside IRMCK203 in real time, and IRMCK203 controllers are by adjusting rare earth permanent magnet
The number of drive pulses of synchronous servo motor adjusts its rotation angle, by adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal
Frequency realize the variation of angular speed speed, so that three axis rare-earth permanent-magnetic synchronous servo motor timing synchronizations is worked, the DSP moment records
The location parameter that robot has moved.
9）In SCARA robots moving process, sensor S1 ~ S4 moment carries out the moving obstacle in motion range
Judge, if there is barrier enters motion range, DSP makes large arm, forearm and the hand of SCARA robots by IRMCK203 immediately
Wrist stops immediately according to the retarded motion curve of Fig. 6, and dsp controller records present rotation angel degree,,Information.Deng barrier
After hindering object to disappear, the rotation angle to new position is recalculated,,, then DSP control IRMCK203 according to Fig. 6 fortune
Moving curve passes through three sections of movement locus again：Accelerated motion, uniform motion and retarded motion, eventually arrive at set point.
10）In moving process, large arm, forearm and the angle of wrist rotation that the DSP moment records accelerometer feedback accelerate
Degree, controller obtain the rotation angle of large arm, forearm and wrist by quadratic integral, and compared with the position angle angle value of setting
Compared with if deviation is more than setting threshold values, this deviation is converted into three new acceleration of rare-earth permanent-magnetic synchronous servo motor by DSP
Degree, speed and position initial order value, in next sampling period, DSP and IRMCK203 is communicated, IRMCK203 combination motors X,
The feedback of motor Y and motor Z motor photoelectric encoders feedback adjust Program Generating motor X, motor through servo inside IRMCK203
The PWM wave of Y and motor Z control signal, and PWM wave control signal drives each motor movement after drive axle amplifies.Dsp controller
Adjust the PI parameters of SERVO CONTROL program inside IRMCK203 in real time according to input deviation size, IRMCK203 controllers pass through tune
The number of drive pulses of whole rare-earth permanent-magnetic synchronous servo motor adjusts its rotation angle, by adjusting rare-earth permanent-magnetic synchronous servo electricity
The frequency of machine control signal realizes the variation of angular speed speed, and then eliminates the error of upper sampling period generation, makes SCARA
Robot completes task according to setting track.
11）In SCARA robot kinematics, DSP can store passed through the location of SCARA robots at the moment
The reference point either passed through, and next reference point SCARA robots relatively are calculated by DSP according to these range informations
Rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z to be run respectively
Angle, angle rates and angular acceleration, IRMCK203 combination motors X, motor Y and motor Z motor photoelectric encoders are fed back anti-
Feedback, the PWM wave that Program Generating motor X, motor Y and motor Z are adjusted through internal servo control signal, and PWM wave controls signal through driving
Each motor movement is driven after dynamic bridge amplification.Dsp controller adjusts servo inside IRMCK203 in real time according to input deviation size
The PI parameters for controlling program, its rotation angle is adjusted by adjusting the number of drive pulses of rare-earth permanent-magnetic synchronous servo motor, is led to
Cross adjustment rare-earth permanent-magnetic synchronous Serve Motor Control signal frequency realize angular speed speed variation, make SCARA robots by
It quickly moves ahead according to setting speed.
12）In SCARA robot kinematics, the ARM and real-time recorder National People's Congress arms of DSP, forearm and wrist rotation
Angle can be inputted and be accelerated to ARM by LD3320 speech recognition systems if master station finds that the robot speed of service is slower
Order communicates after ARM processing with DSP, and DSP is required according to the acceleration time, and remaining angle, which is converted into rare-earth permanent-magnetic synchronous, to be watched
Take angle, the angle rates that motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z to be run respectively
Instructed with angular acceleration, IRMCK203 controllers in conjunction with photoelectric encoder feedback, according to its internal three Close loop servo control
Program readjusts the pwm control signal signal of three rare-earth permanent-magnetic synchronous servo motors, makes robot that task be rapidly completed.
13）In SCARA robot kinematics, the ARM and real-time recorder National People's Congress arms of DSP, forearm and wrist rotation
Angle, if master station find robot need emergency service, can by LD3320 speech recognition systems to ARM input stop
Order communicates after ARM processing with DSP, and DSP is required according to down time, and IRMCK203 controllers are in conjunction with photoelectric encoder
Feedback, the PWM for readjusting three rare-earth permanent-magnetic synchronous servo motors according to its internal three Close loop servo control program control letter
Number signal, makes robot quickly complete parking, and dsp controller passes through acceleration and the real-time recorder people rotation of gyro sensor
The angle turned and storage.After main website completes maintenance, is inputted to ARM by LD3320 speech recognition systems and start order, ARM
Communicated with DSP after processing, DSP requires according to the acceleration time, remaining angle be converted into rare-earth permanent-magnetic synchronous servo motor X,
Angle, angle rates and the angle that rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z to be run respectively accelerate
Degree instruction, IRMCK203 controllers in conjunction with photoelectric encoder feedback, again according to its internal three Close loop servo control program
The pwm control signal signal for adjusting three rare-earth permanent-magnetic synchronous servo motors, makes robot that remaining task be rapidly completed.
14）Three axis rotation angles are completed in SCARA robots,,SERVO CONTROL after, DSP secondary detections accelerate
Spend sensor integrated value, if it find that SCARA robots in motion process by three rotation angles after external interference,,When error with set angle is more than setting threshold values, DSP is three rotation angle deviations,,It is converted into three
Acceleration, speed and the position initial order value of rare-earth permanent-magnetic synchronous servo motor fine position, then DSP and IRMCK203 is logical
News, the feedback of IRMCK203 combination motors X, motor Y and motor Z motor photoelectric encoders feedback, through servo inside IRMCK203
The PWM wave for adjusting Program Generating motor X, motor Y and motor Z controls signal, and PWM wave control signal drives after drive axle amplifies
Each motor movement.The PI that dsp controller adjusts SERVO CONTROL program inside IRMCK203 according to input deviation size in real time joins
Number, IRMCK203 controllers adjust its rotation angle by adjusting the number of drive pulses of rare-earth permanent-magnetic synchronous servo motor, lead to
The frequency for crossing adjustment rare-earth permanent-magnetic synchronous Serve Motor Control signal realizes the variation of angular speed speed, passes through three axis rare earth permanent magnets
The task again of synchronous servo motor makes robot's arm, forearm and wrist reach setting position.
15）When the large arm of SCARA robots, forearm and wrist complete angle,,Angle compensation reach setting
Behind position, the sensor EM4 in wrist will be again turned on, and SCARA robots want zero setting position to be judged first, be confirmed initial
After position is errorless, DSP is according to the speed time curve of Fig. 6, the distance that wrist is liftedRare-earth permanent-magnetic synchronous is converted into watch
Acceleration, speed and the position initial order value of motor R are taken, then DSP and IRMCK203 is communicated, IRMCK203 combination motors R
The feedback of photoelectric encoder, the PWM wave that Program Generating motor R is adjusted through internal servo control signal, and PWM wave controls signal through driving
Each motor movement is driven after dynamic bridge amplification.Dsp controller adjusts servo inside IRMCK203 in real time according to input deviation size
The PI parameters of program are controlled, dsp controller adjusts its rotation by adjusting the number of drive pulses of rare-earth permanent-magnetic synchronous servo motor
Gyration realizes the variation of angular speed speed by adjusting the frequency of rare-earth permanent-magnetic synchronous Serve Motor Control signal, makes wrist
Setting position is steadily reached in setting time.
16）During the motion if SCARA robots find that location parameter solution occurs during endless loop will send out to ARM
Disconnected request, ARM can do interruption and respond at the first time, and ARM controller will be communicated with DSP immediately, and DSP passes through IRMCK203 immediately
The control signal of four rare-earth permanent-magnetic synchronous servo motors, robot original place self-locking are blocked, main website is either based on by PLC
LD3320 speech recognition systems input new operating position information to ARM controller.
17）In SCARA robots repeatedly repeatedly in motion process, if main website discovery has interim vital task to need to be added
In work queue, main website will be again based on the speech recognition system of LD3320, be led to ARM by LD3320 controllers by main website
The phonetic order of news, main website input communicates after LD3320 is identified with ARM, and phonetic order is converted into important by ARM controller
The position servo parameter of business, ARM and DSP are communicated, and complete currently outstanding task by DSP controls IRMCK203 first, simultaneously
ARM updates the original servo control parameter queues of DSP, and transmits new servo position parameter to DSP, keeps DSP next
Servo control completes important temporary duty.
18）In SCARA robots repeatedly repeatedly in motion process, if when magnetoelectric transducer EM1, EM2, EM3 and EM4 are read
When to transducing signal, dsp controller will carry out new position servo control with zero position parameter instead of existing location parameter, and
Error is calculated, in next sampling period, DSP passes through three closed loop rare-earth permanent-magnetic synchronous Serve Motor Controls inside IRMCK203
Program compensates error, eliminates cumulative errors in time.
19）Mounted in rare-earth permanent-magnetic synchronous servo motor X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo electricity
Photoelectric encoder on machine Z, rare-earth permanent-magnetic synchronous servo motor R can export its position signal A and position signal B, photoelectric coding
The position signal A pulses of device and B pulsed logics state often change once, and the location register in DSP and ARM can be according to motor
Traffic direction adds 1 either to subtract 1；When the position signal A pulses and B pulses and Z pulses of photoelectric encoder are low level simultaneously, just
It generates an INDEX signal and gives DSP and ARM internal registers, record the absolute position of rare-earth permanent-magnetic synchronous servo motor, then
It is real-time to be converted into SCARA robot's arms, forearm either specific location of the wrist in three-dimensional coordinate system, ARM controller
It is communicated by PLC and main website, important location parameter is transferred to main website.When magnetoelectric transducer EM1, EM2 and EM3 read sensing
When signal, dsp controller will replace existing location parameter with zero position parameter, eliminate cumulative errors in time.
20）SCARA robots are monitored AC ac main powers at the operational process ARM controller moment, if control
When device finds main power source failure power-off suddenly, ARM can be communicated with DSP, and open stand-by power supply, be four axis by stand-by power supply
Rare-earth permanent-magnetic synchronous servo motor provides energy, and DSP adjusts program four rare earths of adjustment in real time by servo inside IRMCK203
The PWM of permanent magnet synchronous servo motor is exported, IRMCK203 controllers by adjusting rare-earth permanent-magnetic synchronous servo motor driving arteries and veins
It rushes number and adjusts its rotation angle, angular speed speed is realized by adjusting the frequency of rare-earth permanent-magnetic synchronous Serve Motor Control signal
Variation, so that SCARA robots is completed current carrying task, then SCARA robots are communicated by PLC and main website, and
Notice main website is overhauled.
21）In the SCARA robots Multi-asis servo system course of work, if DSP servo controllers detect some
The torque of rare-earth permanent-magnetic synchronous servo motor is pulsed, since the rare-earth permanent-magnetic synchronous servo motor that the present invention uses uses directly
Direct torque is connect, therefore controller can be easy to compensate this interference, and is adjusted inside IRMCK203 in real time according to interference size DSP
PI parameters, reduce motor torque and disturb influence to SCARA robot kinematics.
22）When SCARA robots complete task, realize position zero, the acceleration transducer A1 ~ A3, the top that carry
Spiral shell instrument 27, magnetoelectric transducer EM1, EM2, EM3 and EM4 can work at the moment, first have acceleration transducer and gyroscope to detect it and add
Speed and speed can be repaiied when acceleration and speed are more than pre-set threshold value in next cycle dsp controller by IRMCK203
The error that just upper a cycle is brought, when magnetoelectric transducer EM1, EM2, EM3, EM4 have signal output, DSP passes through
The PWM wave that IRMCK203 blocks four road rare-earth permanent-magnetic synchronous servo motors controls signal, and SCARA robots guide zero position automatically
It resetting and completes, SCARA robots realize playback from certain point to zero-bit according to the Velocity-time curve movement of Fig. 6, then zero
Position self-locking waits for next group work order.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (2)
1. a kind of quick articulated robot control system of heavily loaded five core, which is characterized in that the articulated robot uses rare earth forever
The rotary motion of magnetic-synchro servo motor X driving robot's arms drives robot forearm using rare-earth permanent-magnetic synchronous servo motor Y
Rotary motion drives robot wrist's rotary motion using rare-earth permanent-magnetic synchronous servo motor Z, using rare-earth permanent-magnetic synchronous servo
Motor R drives robot wrist's elevating movement, avoidance displacement sensor S1 is equipped on the robot's arm, avoidance displacement passes
Sensor S2, gyroscope and acceleration transducer A1 are equipped with avoidance displacement sensor S3, avoidance displacement on the robot forearm
Sensor S4, gyroscope and acceleration transducer A2 are equipped with alignment sensor S5, gyroscope on the robot wrist and add
Velocity sensor A3, the control system include main website control computer and controller, and the controller includes dsp chip control
Device, permanent magnet synchronous motor closed-loop control chip, voice recognition processor, PLC controllers and ARM controller processed, the DSP cores
Piece controller, permanent magnet synchronous motor closed-loop control chip, PLC controllers and voice recognition processor are controlled with the main website
Computer communicates to connect, the dsp chip controller, permanent magnet synchronous motor closed-loop control chip, voice recognition processor and ARM
Controller is communicatively connected to each other, and the PLC controllers are communicated to connect with ARM controller, the rare-earth permanent-magnetic synchronous servo motor
X, rare-earth permanent-magnetic synchronous servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z and rare-earth permanent-magnetic synchronous servo motor R with it is described
Dsp chip controller communicate to connect, the avoidance displacement sensor S1, avoidance displacement sensor S2, avoidance displacement sensor S3,
Avoidance displacement sensor S4, alignment sensor S5, acceleration transducer A1, acceleration transducer A2 and acceleration transducer A3 are equal
It is communicated to connect simultaneously with the dsp chip controller and ARM controller, further includes being carried for the articulated robot and control system
The main power source and stand-by power supply of power supply source, in each motor and sensor and control system in the articulated robot
Controller be electrically connected with the main power source and/or stand-by power supply, the rare-earth permanent-magnetic synchronous servo motor X, rare earth are forever
It is both provided with photoelectricity volume on magnetic-synchro servo motor Y, rare-earth permanent-magnetic synchronous servo motor Z and rare-earth permanent-magnetic synchronous servo motor R
Code device, the photoelectric encoder are electrically connected with the dsp chip controller.
2. the quick articulated robot control system of heavily loaded five core according to claim 1, which is characterized in that the robot
Magnetoelectric transducer EM1 is installed in large arm, magnetoelectric transducer EM2, the robot wrist are installed on the robot forearm
On magnetoelectric transducer EM3 and EM4, the magnetoelectric transducer EM1, magnetoelectric transducer EM2, magnetoelectric transducer EM3 and EM4 are installed
Communicated to connect with the dsp chip controller and ARM controller.
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| CN1476963A (en) * | 2002-06-17 | 2004-02-25 | ������������ʽ���� | Distributed control system and method |
| CN100536287C (en) * | 2005-05-18 | 2009-09-02 | 江苏大学 | Digital-control servo system and its control for permanent magnet synchronous motor without bearing |
| CN100360204C (en) * | 2005-06-16 | 2008-01-09 | 上海交通大学 | Control system of intelligent perform robot based on multi-processor cooperation |
| CN102841557A (en) * | 2012-09-26 | 2012-12-26 | 苏州工业园区职业技术学院 | Four-axis full-automatic high-speed dispensing robot servo-control system |
| CN103223670A (en) * | 2013-04-08 | 2013-07-31 | 苏州工业园区职业技术学院 | Servo control system for five-degree-of-freedom medium-speed tin soldering robot |
| CN103273489B (en) * | 2013-05-10 | 2015-10-07 | 上海大学 | Based on robot control system and the method for principal and subordinate's remote operating mechanical arm |
| CN104369189A (en) * | 2013-08-15 | 2015-02-25 | 郑西涛 | Industrial robot state visualization system |
| CN204229180U (en) * | 2014-11-17 | 2015-03-25 | 歌尔声学股份有限公司 | Multinuclear control system |
| CN104460675A (en) * | 2014-12-12 | 2015-03-25 | 南京林业大学 | Control system of stacking transfer robot |
| CN204585226U (en) * | 2015-04-30 | 2015-08-26 | 金陵科技学院 | A kind of application multi-axis motion controller on a robotic arm |
| CN105334853A (en) * | 2015-08-24 | 2016-02-17 | 铜陵学院 | Double-core high-speed four-wheel miniature micro-mouse sprint controller |
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