CN106003030A - Dual-core constant-velocity control system for joint robot for teaching - Google Patents
Dual-core constant-velocity control system for joint robot for teaching Download PDFInfo
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- CN106003030A CN106003030A CN201610409108.5A CN201610409108A CN106003030A CN 106003030 A CN106003030 A CN 106003030A CN 201610409108 A CN201610409108 A CN 201610409108A CN 106003030 A CN106003030 A CN 106003030A
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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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- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
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Abstract
The invention discloses a dual-core constant-velocity control system for a joint robot for teaching. The control system comprises a main station control computer and a controller. The controller comprises a DSP chip controller and an ARM controller. The DSP chip controller and the ARM controller are both in communication with the main station control computer. The DSP chip controller is in communication with the ARM controller. Four permanent-magnet DC servo motors are all in communication connection with the DSP chip controller. A plurality of obstacle avoidance displacement sensors, a positioning sensor S5, an accelerator sensor A1, an accelerator sensor A2 and an accelerator sensor A3 are in communication connection with the DSP chip controller and the ARM controller. The control system is high in calculating speed. The arms of the joint robot are steered flexibly, and the joint robot moves stably and accurately, is small in size, and stable in performance.
Description
Technical field
The present invention relates to a kind of teaching double-core constant speed articulated robot control system, belong to four joints of assembling work
Robot arm application.
Background technology
In the industrial production, industrial robot can substitute for the mankind do that some are more dull, the most frequently and repetitive rate relatively
High long working, or the operation under danger, adverse circumstances, be typically used as moving to take part and assembly work, at micro-electricity
The fields such as sub-manufacturing industry, plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry obtain widely should
With, it is for improving production automation level, labor productivity and economic benefit, guarantee product quality, guaranteeing personal safety, change
Kind work situation, reduces labor intensity, save material consumption and reduce production cost etc. and have highly important meaning.
The SCARA industrial robot i.e. robot arm of assembling work is the industrial robot of a kind of circular cylindrical coordinate type, it
Rely on rotary joint large arm and forearm to realize the quick location in X-Y plane, rely on a wrist linear joint and a hands
Wrist rotary joint does flexible and rotary motion in z-direction, and it has four freedoms of motion, and the manipulator of this series moves at it
The four direction making space has finite stiffness, and has infinitely great rigidity on remaining other two direction.This structure
Characteristic makes SCARA robot be good at and captures object from a bit, is the most quickly placed to another point, therefore SCARA robot
Production line for automatically assembling is widely used.SCARA robot architecture is compact, flexible movements, and speed is fast, position is smart
Degree height, its use substantially increases the robot adaptability to Complex Assembly task, also reduces cost simultaneously, improve work
Make space availability ratio.
SCARA robot combines multi-subject knowledge, for promote the manipulative ability of students, team collaboration's ability and
Innovation ability, the digestion promoting student classroom knowledge and the scope of one's knowledge extending student are the most helpful.SCARA machine is used in teaching
People's technology carry out the talent that can cultivate large quantities of association area, and then promote that the technology development of association area and industrialization are entered
Journey.But SCARA robot to judge the location parameter that master controller inputs during transporting goods the moment, and judges around
Environment moment avoidance, then by motion controller repetitive control, it accelerates accurately and deceleration is transported goods, somewhat
Deviation accumulation is possible to cause transporting unsuccessfully in many bouts move.Although the domestic use to SCARA robot has tens
Year, but owing to domestic industry robot development starting ratio is later, being affected by more key technology, SCARA robot is sent out
Exhibition is also affected by institute, and traditional robot principle is as it is shown in figure 1, there is great number of issues during life-time service:
(1) DC source after the power supply as SCARA robot uses general alternating current power supply rectification, when having a power failure suddenly
Whole moving unsuccessfully can be made.
(2) controlled technique influence, all of SCARA machine uses monokaryon controller per capita, the computing capability of controller
More weak, SCARA cannot quickly process real time environment.
(3) for using stepper motor driven SCARA robot so that the mechanical noise of system operating increases greatly
Add, be unfavorable for environmental conservation.
(4) for using the SCARA robot of motor and DC motor Driver, the rotary inertia of system is big,
It is unfavorable for quickly accelerating and slowing down of robot.
(5) for using the SCARA robot of motor and DC motor Driver, the staring torque of system is relatively
Little, it is unfavorable for the quick startup of robot.
(6) in the whole motor control process of SCARA robot, all angles of rotation do not have Real-time Feedback, Shi Youzao
The three nonsynchronous phenomenons of axle are become to occur.
(7) in the whole motor control process of SCARA robot, do not have between each turning arm and peripheral environment
The avoidance of effect, causes the phenomenon colliding other goods to occur sometimes.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of teaching double-core constant speed articulated robot control system, should
It is fast that teaching calculates speed by double-core constant speed articulated robot control system, makes articulated robot arm turn to flexibly, having stable behavior
Accurately, compact, stable performance.
For solving above-mentioned technical problem, the technical solution used in the present invention is: provide a kind of teaching double-core constant speed joint
Robot control system, described articulated robot uses permanent-magnet DC servo motor X driven machine people's large arm rotary motion, employing
Permanent-magnet DC servo motor Y driven machine people's forearm rotary motion, employing permanent-magnet DC servo motor Z driven machine human wrist rotation
Transhipment is dynamic, use permanent-magnet DC servo motor R driven machine human wrist elevating movement, and described robot's arm is provided with avoidance
Displacement transducer S1, avoidance displacement transducer S2 and acceleration transducer A1, described robot forearm is provided with avoidance displacement
Sensor S3, avoidance displacement transducer S4 and acceleration transducer A2, described robot wrist is provided with alignment sensor S5
With acceleration transducer A3, described control system includes that main website controls computer and controller, and described controller includes DSP core
Sheet controller and ARM controller, described dsp chip controller and ARM controller all control compunication even with described main website
Connecing, communicate to connect between described dsp chip controller and ARM controller, described permanent-magnet DC servo motor X, DC are watched
Take motor Y, permanent-magnet DC servo motor Z and permanent-magnet DC servo motor R all to communicate to connect with described dsp chip controller, institute
State avoidance displacement transducer S1, avoidance displacement transducer S2, avoidance displacement transducer S3, avoidance displacement transducer S4, location biography
Sensor S5, acceleration transducer A1, acceleration transducer A2 and acceleration transducer A3 all simultaneously with described dsp chip controller
Communicate to connect with ARM controller.
In a preferred embodiment of the present invention, also include the master that power supply is provided for described articulated robot and control system
Controller in power supply and stand-by power supply, each described motor in described articulated robot and sensor and control system is equal
It is electrically connected with described main power source and/or stand-by power supply.
In a preferred embodiment of the present invention, described permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent magnetism
The even photoelectric encoder that is provided with on DC servo motor Z and permanent-magnet DC servo motor R, described photoelectric encoder and described DSP
Chip controller is electrically connected with.
In a preferred embodiment of the present invention, in described dsp chip controller, it is provided with record DC servo electricity
The location register that seat in the plane is put.
The invention has the beneficial effects as follows: the teaching double-core constant speed articulated robot control system of the present invention calculates speed
Hurry up, make articulated robot arm turn to flexibly, having stable behavior accurately, compact, stable performance.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing, wherein:
Fig. 1 is tradition SCARA robot controller schematic diagram；
Fig. 2 is based on four axle permanent-magnet DC servo motor SCARA robot motion's pair X-Y schemes；
Fig. 3 is based on double-core four axle permanent-magnet DC servo motor SCARA robot controller schematic diagram；
Fig. 4 is based on double-core four axle permanent-magnet DC servo motor SCARA robot program's block diagram；
Fig. 5 is based on double-core four axle permanent-magnet DC servo motor motion principle figure；
Fig. 6 is four axle permanent-magnet DC servo motor acceleration and deceleration curves figures；
Fig. 7 is the teaching double-core constant speed articulated robot Control system architecture schematic diagram of the present invention.
In accompanying drawing, the labelling of each parts is as follows: 1, main website controls computer, 2, controller, 3, dsp chip controller, 4,
ARM controller, 5, main power source, 6, stand-by power supply, 7, permanent-magnet DC servo motor X, 8, permanent-magnet DC servo motor Y, 9, permanent magnetism
DC servo motor Z, 10, permanent-magnet DC servo motor R, 11, photoelectric encoder, 12, avoidance displacement transducer S1,13, avoidance
Displacement transducer S2,14, avoidance displacement transducer S3,15, avoidance displacement transducer S4,16, alignment sensor S5,17, accelerate
Degree sensors A 1,18, acceleration transducer A2,19, acceleration transducer A3.
Detailed description of the invention
Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement
Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common
All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection
Enclose.
Referring to Fig. 2 to Fig. 7, the embodiment of the present invention includes: a kind of teaching double-core constant speed articulated robot control system,
This machine artificially SCARA robots based on four axle permanent-magnet DC servo motors, the most described articulated robot uses DC
Servomotor X7 driven machine people's large arm rotary motion, employing permanent-magnet DC servo motor Y8 driven machine people's forearm rotate fortune
Move, use permanent-magnet DC servo motor Z9 driven machine human wrist rotary motion, use permanent-magnet DC servo motor R10 to drive machine
Device human wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1 12, avoidance displacement transducer S2
13 and acceleration transducer A1 17, described robot forearm is provided with avoidance displacement transducer S3 14, avoidance displacement sensing
Device S4 15 and acceleration transducer A2 18, described robot wrist is provided with alignment sensor S5 16 and acceleration sensing
Device A3 19.
Described control system includes that main website controls computer 1 and controller 2, and described controller 2 includes dsp chip control
Device 3 and ARM controller 4, described dsp chip controller 3 and ARM controller 4 all control computer 1 communication link with described main website
Connect, communicate to connect between described dsp chip controller 3 and ARM controller 4, described permanent-magnet DC servo motor X7, DC
Servomotor Y8, permanent-magnet DC servo motor Z9 all communicate with described dsp chip controller 3 with permanent-magnet DC servo motor R10
Connect, described avoidance displacement transducer S1 12, avoidance displacement transducer S2 13, avoidance displacement transducer S3 14, avoidance displacement
Sensor S4 15, alignment sensor S5 16, acceleration transducer A1 17, acceleration transducer A2 18 and acceleration transducer
A3 19 communicates to connect with described dsp chip controller 3 and ARM controller 4 all simultaneously.
Preferably, the teaching double-core constant speed articulated robot control system of the present invention also includes for described articulated robot
With main power source 5 and stand-by power supply 6, each described motor and sensor in described articulated robot that control system provides power supply
And the controller 2 in control system is all electrically connected with described main power source 5 and/or stand-by power supply 6.
Preferably, described permanent-magnet DC servo motor X 7, permanent-magnet DC servo motor Y 8, permanent-magnet DC servo motor Z
The even photoelectric encoder 11 that is provided with on 9 and permanent-magnet DC servo motor R10, described photoelectric encoder 11 and described dsp chip control
Device 3 processed is electrically connected with.
Preferably, the location register of record permanent-magnet DC servo motor position it is provided with in described dsp chip controller 3
Device.
The DSP(TMS320F2812 of the present invention)+ARM(STM32F746) dual-core controller, under power-on state,
ARM controller 4 is first to robot stand-by power supply SOC(state-of-charge) and main power source judge, if stand-by power source is relatively low, control
Device processed can send alarm signal；If stand-by power supply and main power source are working properly, first passed through USB interface transporting goods by PC
Large arm, forearm and the wrist anglec of rotation and adjustable height or copy each coordinate information of goods mechanically and input to ARM, then
The parameter of robot servo's system is calculated by ARM；Then SCARA robot returns to zero position, and robot is introduced into self-locking
State, after once carrying command starts, avoidance sensor, alignment sensor and acceleration transducer that robot carries all leave
Opening, SCARA robot is according to setting the transport path fast removal that ARM optimizes, and DSP is real according to servo parameter and sensor feedback
Time adjust SCARA robot permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z and permanent magnetism
The PWM output of DC servo motor R, it is achieved the real-time servo of four permanent-magnet DC servo motors controls, ARM Real-time Collection machine
People's movable information also stores cargo location information, if had a question to carrying some position, will be with DSP communication, and DSP sends and stops
Car instruction makes SCARA robot stop, and then manually judges carrying information, confirms that errorless rear secondary manually starts
SCARA robot continues being not fully complete of task.
With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, Fig. 5, Fig. 6, its concrete functional realiey is as follows:
1), after SCARA robot power supply is opened, stand-by power supply SOC and main power source can be judged by ARM, if stand-by power supply
When SOC is relatively low, DSP will forbid four permanent-magnet DC servo motor work, and motor input PWM ripple is blocked, and senses with alarm
Device is by work and sends alarm signal；If battery SOC is normal, SCARA robot enters and treats duty, waits work life
Order.
2) manually by PC, the information such as the length of large arm, forearm lengths and elevating lever are passed to ARM by USB interface
Controller, the most manually guides SCARA robot to the zero-bit set of setting work, now sets each anglec of rotation, wrist lifting height。
3) in order to meet the acceleration and deceleration needs of SCARA robot, the present invention uses such as the movement time ladder diagram of Fig. 6, this
The area that ladder diagram comprises is exactly robot's arm, forearm and wrist angle to be rotated or the height of wrist lifting, for
The control, the present invention is facilitated to use single acceleration model.
4) SCARA robot reads its mode of operation, if manual working pattern, main website starts to lead to ARM controller
News, are needed the angle, θ rotated by main website input SCARA robot's arm, forearm and wrist1, θ2, θ4And SCARA robot
Wrist needs the height d rising or declining3To ARM controller, ARM controller is opened according to Denavit-Hartenberg algorithm
Beginning robot forward solves: first ARM controller needs the angle, θ rotated according to SCARA robot's arm, forearm and wrist1,
θ2, θ4And SCARA robot wrist needs the height d of rising3Calculate the position auto-control between adjacent two member coordinates
M01、M12、M23、M34And with 4*4 two-dimensional array mark, M01、M12、M23、M34It is expressed as follows respectively:
,,
,。
Then by formula M04=M01M12M23M34Just can obtain wrist executor and complete the position after task and attitude,
Then ARM Yu DSP communication, and transmit be manually entered parameter.
5) SCARA robot reads its mode of operation, if normal automatic transporting mode of operation, main website starts and ARM
Controller communication, is sat by the initial position residing for main website input SCARA robot's arm, forearm and wrist and given position three-dimensional
Mark is to ARM controller, and it is Converse solved that ARM controller starts robot according to Denavit-Hartenberg algorithm: ARM controller
First obtain, according to the X and Y coordinates in large arm, forearm lengths and final three-dimensional coordinate, the angle, θ that large arm needs to rotate1,
And by θ1Value obtain θ2Value, and according to the Z coordinate in three-dimensional coordinate obtain wrist rise or reduce height d3, finally
Obtain anglec of rotation θ4, owing to solving θ1When equation have bilingual, so SCARA robot obtains large arm, forearm and hands
Wrist needs the angle, θ rotated1、θ2、θ4And SCARA robot wrist needs the height d of rising3After, ARM controller can be to solving
Result is optimized, then ARM controller and DSP communication, most has servo motion parameter to be transferred to dsp controller in robot.
6) dsp controller accepts the angle, θ that SCARA robot's arm, forearm and wrist need to rotate1、θ2、θ4And
SCARA robot wrist needs the height d risen3After, the sensor S1 ~ S5 in large arm, forearm and wrist will open, first
Barrier in each turning arm anglec of rotation is judged by SCARA robot, will send interruption to DSP as there is barrier
Request, then DSP can block four axle PWM wave control signal outputs to interrupting doing very first time response, forbids SCARA robot
Permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z and motor permanent-magnet DC servo motor
R works, and robot is self-locking in original place, and dsp controller secondary judges the obstacle information in range of movement, prevents information from judging by accident；
7) if dsp controller determines that clear enters moving region, DSP is according to the speed time curve of Fig. 6, and DSP is three
Individual anglec of rotation θ1、θ2、θ4It is converted into the acceleration of three permanent-magnet DC servo motors, speed and position initial order value, then
DSP combines motor X, motor Y and motor Z current of electric feedback, photoelectric encoder feedback and the feedback of acceleration transducer, through interior
Portion four Close loop servo control program adjusts the PWM wave control signal of motor X, motor Y, motor Z in real time, and dsp controller is according to four
The deviation size of closed loop input adjusts the pid parameter of internal SERVO CONTROL program in real time, by adjusting permanent-magnet DC servo motor
Number of drive pulses adjust its anglec of rotation, by adjust permanent-magnet DC servo motor control signal frequency realize angular velocity
The change of speed, makes four axle permanent-magnet DC servo motor timing synchronization work, the position that DSP moment recorder people has moved
Parameter.
8) in SCARA robot moving process, the moving obstacle in range of movement is carried out by sensor S1 ~ S4 moment
Judging, if there being barrier to enter range of movement, the large arm of SCARA robot, forearm and wrist are stood according to the curve movement of Fig. 6
I.e. stopping, dsp controller records present rotation angel degree θ1、θ2、θ4Information, after waiting barrier to disappear, recalculates new position
Anglec of rotation θ1、θ2、θ4, then according to the curve of Fig. 6 is again through three sections of movement locus: accelerated motion, uniform motion and subtract
Speed motion, eventually arrives at set point.
9) in moving process, the angular acceleration that accelerometer moment record large arm, forearm and wrist rotate, and by two
Secondary integration obtains the anglec of rotation of large arm, forearm and wrist, and compared with the position angle angle value set, if deviation is more than setting
Determining threshold values, in the next sampling period, dsp controller adjusts permanent-magnet DC servo motor according to internal three closed-loop servo controller
X, permanent-magnet DC servo motor Y, the pwm control signal of permanent-magnet DC servo motor Z, dsp controller inputs according to three closed loops
Deviation size adjusts the pid parameter of internal SERVO CONTROL program in real time, by adjusting the driving pulse of permanent-magnet DC servo motor
Number adjusts its anglec of rotation, is realized the change of angular velocity speed by the frequency adjusting permanent-magnet DC servo motor control signal
Change, and then eliminate the error of a sampling period generation, make SCARA robot complete task according to setting track.
10) in SCARA robot kinematics, DSP can store in the moment the SCARA robot location of process
Or the reference point of process, and it is calculated relatively next reference point SCARA robot according to these range informations by DSP
Permanent-magnet DC servo motor X, the angle that permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z are to be run, angle speed
Degree and angular acceleration, dsp controller feeds back in conjunction with angular-rate sensor, photoelectric encoder feedback, according to its internal three closed loops
SERVO CONTROL program obtains the pwm control signal signal of four permanent-magnet DC servo motors, and dsp controller inputs according to four closed loops
Deviation size adjust the pid parameter of internal SERVO CONTROL program in real time, by adjusting the driving arteries and veins of permanent-magnet DC servo motor
Strokes per minute mesh adjusts its anglec of rotation, is realized the change of angular velocity speed by the frequency adjusting permanent-magnet DC servo motor control signal
Change, make SCARA robot quickly move ahead according to setting speed.
11) four axle anglecs of rotation θ are completed in SCARA robot1、θ2、θ4SERVO CONTROL after, DSP secondary detection acceleration
The integrated value of sensor, if it find that SCARA robot three anglecs of rotation θ after motor process is by external interference1、θ2、θ4
When exceeding setting threshold values with the error of set angle, DSP is three anglec of rotation deviations,,It is converted into four forever
The acceleration of magnetic DC servo motor fine position, speed and position initial order value, DSP is in conjunction with motor X, motor Y and electricity
Machine Z electric current, photoelectric encoder feedback and the feedback of acceleration transducer, adjust electricity through the internal four Close loop servo control programs of DSP
The PWM wave control signal of machine X, motor Y and motor Z, R, in dsp controller adjusts in real time according to the deviation size that three closed loops input
The pid parameter of portion's SERVO CONTROL program, adjusts its anglec of rotation by the number of drive pulses adjusting permanent-magnet DC servo motor,
Realized the change of angular velocity speed by the frequency adjusting permanent-magnet DC servo motor control signal, watched by three axle DCs
The task again taking motor makes robot's arm, forearm and wrist arrive setting position.
12) angle, θ is completed when large arm, forearm and the wrist of SCARA robot1、θ2、θ4Angle compensation arrive setting position
After, DSP is according to the speed time curve of Fig. 6, distance d to be lifted for wrist3It is converted into the acceleration of permanent-magnet DC servo motor R
Degree, speed and position initial order value, then DSP combines the current feedback of motor R, photoelectric encoder feedback and sensor S5
Feedback, adjusts the PWM wave control signal of motor R in real time through internal three Close loop servo control programs, and dsp controller is according to three closed loops
The deviation size of input adjusts the pid parameter of internal SERVO CONTROL program in real time, by adjusting driving of permanent-magnet DC servo motor
Moving pulse number adjusts its anglec of rotation, realizes angular velocity speed by the frequency adjusting permanent-magnet DC servo motor control signal
Change, make wrist steadily within the setting time arrive setting position.
13) if SCARA robot finds that location parameter solves and occurs that endless loop will be in ARM sends in motor process
Disconnected request, ARM can to interrupting doing very first time response, ARM controller will immediately with DSP communication, DSP blocks four permanent magnetism immediately
The control signal of DC servo motor, the then self-locking of robot original place, and abandon carrying work, then by main website according to storing letter
Breath analysis is analyzed.
14) permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z, DC it are contained in
Photoelectric encoder on servomotor R can export its position signalling A and position signalling B, the position signalling A pulse of photoelectric encoder
Often changing once with B pulsed logic state, the location register in DSP can add 1 according to the traffic direction of motor or subtract 1；
When the position signalling A pulse of photoelectric encoder and B pulse and Z pulse are low level simultaneously, just produce an INDEX signal and give
DSP internal register, record permanent-magnet DC servo motor absolute position, be then convert into SCARA robot's arm, forearm or
Person is wrist particular location in three-dimensional coordinate system.
15) AC ac main power is monitored by SCARA robot in the running ARM controller moment, if controlled
Device find main power source break down unexpected power-off time, ARM with DSP communication, and can open stand-by power supply, stand-by power supply be four axles
Permanent-magnet DC servo motor provides energy, and adjusts four permanent magnetism in real time by the internal three closed loop servo-control system programs of DSP
The PWM output of DC servo motor, adjusts its anglec of rotation by the number of drive pulses adjusting permanent-magnet DC servo motor, logical
The frequency crossing adjustment permanent-magnet DC servo motor control signal realizes the change of angular velocity speed, makes SCARA robot complete this
Secondary carrying task, then SCARA robot and main website carry out communication, and notify that main website overhauls.
16) in SCARA robot Multi-asis servo system work process, if DSP servo controller detects some
There is pulsation in the torque of permanent-magnet DC servo motor, the permanent-magnet DC servo motor moment used due to the present invention and current of electric
In direct ratio, therefore controller can be easy to compensate this interference, and adjust the PID ginseng of electric current loop in real time according to interference size DSP
Number, decreases the motor torque disturbance impact on SCARA robot kinematics.
17) task is completed when SCARA robot, it is achieved during the zero of position, during the acceleration transducer A1 that it carries ~ A3 meeting
Carve and detect its acceleration, when acceleration exceedes pre-set threshold value, a half period zones on next cycle dsp controller can be revised
The error come, it is ensured that robot stops at setting zero position, SCARA robot realizes according to the Velocity-time curve movement of Fig. 6
Playback from certain point to zero-bit, then zero-bit self-locking, wait next carrying command.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology neck
Territory, is the most in like manner included in the scope of patent protection of the present invention.
Claims (4)
1. a teaching double-core constant speed articulated robot control system, it is characterised in that described articulated robot uses permanent magnetism
DC servo motor X driven machine people's large arm rotary motion, employing permanent-magnet DC servo motor Y driven machine people's forearm rotate fortune
Move, use permanent-magnet DC servo motor Z driven machine human wrist rotary motion, use permanent-magnet DC servo motor R driven machine
Human wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1, avoidance displacement transducer S2 and acceleration
Degree sensors A 1, described robot forearm is provided with avoidance displacement transducer S3, avoidance displacement transducer S4 and acceleration passes
Sensor A2, described robot wrist is provided with alignment sensor S5 and acceleration transducer A3, and described control system includes
Main website controls computer and controller, and described controller includes dsp chip controller and ARM controller, and described dsp chip controls
Device and ARM controller all control compunication with described main website and are connected, between described dsp chip controller and ARM controller
Communication connection, described permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z and DC
Servomotor R all with described dsp chip controller communicate to connect, described avoidance displacement transducer S1, avoidance displacement transducer S2,
Avoidance displacement transducer S3, avoidance displacement transducer S4, alignment sensor S5, acceleration transducer A1, acceleration transducer A2
Communicate to connect with described dsp chip controller and ARM controller with acceleration transducer A3 all simultaneously.
Teaching double-core constant speed articulated robot control system the most according to claim 1, it is characterised in that also include for
Described articulated robot and control system provide main power source and the stand-by power supply of power supply, described in each in described articulated robot
Controller in motor and sensor and control system is all electrically connected with described main power source and/or stand-by power supply.
Teaching double-core constant speed articulated robot control system the most according to claim 1, it is characterised in that described permanent magnetism
Even setting on DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z and permanent-magnet DC servo motor R
Photoelectric encoder, described photoelectric encoder is had to be electrically connected with described dsp chip controller.
4., according to the double-core constant speed articulated robot control system of the teaching described in any one of claims 1 to 3, its feature exists
In, it is provided with the location register of record permanent-magnet DC servo motor position in described dsp chip controller.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426184A (en) * | 2016-12-13 | 2017-02-22 | 广州中国科学院先进技术研究所 | Robot control system |
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