CN106003060B - A kind of teaching wireless transmission double-core constant speed articulated robot control system - Google Patents
A kind of teaching wireless transmission double-core constant speed articulated robot control system Download PDFInfo
- Publication number
- CN106003060B CN106003060B CN201610409107.0A CN201610409107A CN106003060B CN 106003060 B CN106003060 B CN 106003060B CN 201610409107 A CN201610409107 A CN 201610409107A CN 106003060 B CN106003060 B CN 106003060B
- Authority
- CN
- China
- Prior art keywords
- controller
- permanent
- magnet
- servo motor
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 20
- 230000001133 acceleration Effects 0.000 claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 8
- 210000000707 wrist Anatomy 0.000 claims description 34
- 210000000245 forearm Anatomy 0.000 claims description 21
- 230000005611 electricity Effects 0.000 claims description 5
- 230000005389 magnetism Effects 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 13
- 230000032258 transport Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 208000033748 Device issues Diseases 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 210000001367 artery Anatomy 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of teaching wireless transmission double-core constant speed articulated robot control systems, the control system includes main website control computer and controller, the controller includes dsp chip controller, image capture module, wireless transport module and ARM controller, dsp chip controller and ARM controller control computer communication connection with main website, dsp chip controller, image capture module, it is communicated to connect between wireless transport module and ARM controller, four permanent-magnet DC servo motors are communicated to connect with dsp chip controller, multiple avoidance displacement sensors, alignment sensor, acceleration transducer is communicated to connect with the dsp chip controller and ARM controller.Teaching of the invention is fast with wireless transmission double-core constant speed articulated robot control system calculating speed, and turning to articulated robot arm, flexible, motion stability is accurate, compact, and performance is stablized, can be operated with remote-wireless supervisory-controlled robot.
Description
Technical field
The present invention relates to a kind of teaching wireless transmission double-core constant speed articulated robot control systems, belong to assembling work
Four articulated robot arm application fields.
Background technique
In the industrial production, industrial robot can replace the mankind do some comparisons it is dull, relatively frequently and repetitive rate 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, guaranteeing 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.
SCARA industrial robot, that is, assembling work robot arm 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 is good at SCARA robot from some crawl object, is then quickly placed to another point, therefore SCARA robot
It is widely used on production line for automatically assembling.SCARA robot architecture is compact, flexible movements, and speed is fast, position is smart
Degree is high, its use substantially increases robot to the adaptability of Complex Assembly task, while also reducing cost, improves work
Make space utilization rate.
SCARA robot combines multi-subject knowledge, for promoted the manipulative ability of students, team collaboration's ability and
The scope of one's knowledge of innovation ability, the digestion and extension student that promote student classroom knowledge is all very helpful.Teaching SCARA machine
The development of people's technology can cultivate the talent of large quantities of related fieldss, so promote related fields technology development and industrialization into
Journey.But SCARA robot wants the moment to judge the location parameter of master controller input during transporting goods, and judges surrounding
Environment moment avoidance, then by motion controller repetitive control its it is accurate accelerate and deceleration is transported goods, slightly
Deviation accumulation is possible to cause transport to fail in the movement of more bouts.Although the country has tens to the use of SCARA robot
Year, but since domestic industry robot develops starting than later, influenced by more key technology, the hair of SCARA robot
Exhibition is also by being influenced, and traditional robot principle during long-time service as shown in Figure 1, great number of issues occur：
（1）For the SCARA robot driven using stepper motor and direct current generator, the rotary inertia of system is big,
It is unfavorable for the quick acceleration and deceleration of robot.
（2）For the SCARA robot driven using stepper motor and direct current generator, the staring torque of system compared with
It is small, it is unfavorable for the quick start of robot.
（3）In the entire motion control process of SCARA robot, all angles of rotation do not have Real-time Feedback, Shi Youzao
Occur at the nonsynchronous phenomenon of three axis.
（4）In the entire motion control process of SCARA robot, do not had between each rotating arm and peripheral environment
The avoidance of effect will cause the phenomenon that colliding other cargos generation sometimes.
（5）In most cases, with the accumulation of time, robot work can have certain location error, rely on
The method for being manually directed to zero position, not only accuracy is not high, nor is conducive to the work such as high density carrying.
（6）It in SCARA high-volume handling process, carries error and quality problems happens occasionally, if similar will not ask
Topic, which checks, to be come, and can leave hidden danger for later motion process.At present for the detection of SCARA work, artificial mesh is relied primarily on
The methods of inspection such as survey realize that there is only subjective factors to influence the drawbacks such as big, labor intensity is high, working efficiency is low for this, and mesh exists
Artificial high-volume examines SCARA working result also unrealistic in short time.
（7）It is carried in production in SCARA high-volume, has important temporary duty sometimes and be added, common SCARA is often
It is completed by way of shutdown, causes efficiency lower.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of teaching wireless transmission double-core constant speed articulated robot controls
System processed, the teaching is fast with wireless transmission double-core constant speed articulated robot control system calculating speed, makes articulated robot arm
Steering is flexible, motion stability is accurate, compact, and performance is stablized, can be operated with remote-wireless supervisory-controlled robot.
In order to solve the above technical problems, the technical solution adopted by the present invention is that：A kind of teaching wireless transmission double-core is provided
Constant speed articulated robot control system, the articulated robot is using permanent-magnet DC servo motor X driving robot's arm rotation
Movement drives robot forearm rotary motion using permanent-magnet DC servo motor Y, using permanent-magnet DC servo motor Z driving machine
The rotary motion of device human wrist drives robot wrist's elevating movement using permanent-magnet DC servo motor R, on the robot's arm
Avoidance displacement sensor S1, avoidance displacement sensor S2 and acceleration transducer A1 are installed, installed on the robot forearm
There are avoidance displacement sensor S3, avoidance displacement sensor S4 and acceleration transducer A2, it is fixed to be equipped on the robot wrist
Level sensor S5 and acceleration transducer A3, the control system include main website control computer and controller, the control
Device includes dsp chip controller, image capture module, wireless transport module and ARM controller, described image acquisition module and nothing
Communicated to connect between line transmission module, the dsp chip controller, wireless transport module and ARM controller with the main website
Computer communication connection is controlled, the dsp chip controller, wireless transport module and ARM controller communicate to connect each other,
The permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z and permanent-magnet DC servo motor R
It 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
Sensors A 3 is communicated to connect with the dsp chip controller, wireless transport module and ARM controller simultaneously.
It in a preferred embodiment of the present invention, further include providing the master of power supply for the articulated robot and control system
Power supply and backup power source, 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 backup power source.
In a preferred embodiment of the present invention, the permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent magnetism
It is even on DC servo motor Z and permanent-magnet DC servo motor R to be provided with photoelectric encoder, the photoelectric encoder and the DSP
Chip controller is electrically connected.
In a preferred embodiment of the present invention, described image acquisition module is CCD camera component.
In a preferred embodiment of the present invention, decoding chip is provided in described image acquisition module.
The beneficial effects of the invention are as follows：Teaching of the invention wireless transmission double-core constant speed articulated robot control system meter
It is fast to calculate speed, turning to articulated robot arm, flexible, motion stability is accurate, compact, and performance is stablized, can remote nothing
The operation of line supervisory-controlled robot.
Detailed description of the invention
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 diagram；
Fig. 2 is based on four axis permanent-magnet DC servo motor SCARA robot motion's pair X-Y schemes；
Fig. 3 is based on four axis permanent-magnet DC servo motor SCARA robot controller schematic diagram of double-core；
Fig. 4 is based on four axis permanent-magnet DC servo motor SCARA robot program's block diagram of double-core；
Fig. 5 is based on four axis permanent-magnet DC servo motor motion principle figure of double-core；
Fig. 6 is four axis permanent-magnet DC servo motor acceleration and deceleration curves figures；
Fig. 7 is that teaching of the invention is wirelessly transferred double-core constant speed articulated robot control system architecture schematic diagram.
The components in the drawings are labeled as follows：1, main website control computer, 2, controller, 3, dsp chip controller, 4,
ARM controller, 5, main power source, 6, backup power source, 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 sensor S1,13, avoidance
Displacement sensor S2,14, avoidance displacement sensor S3,15, avoidance displacement sensor S4,16, alignment sensor S5,17, acceleration
Spend sensors A 1,18, acceleration transducer A2,19, acceleration transducer A3,20, wireless transport module, 21, Image Acquisition mould
Block, 22, decoding chip.
Specific embodiment
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 embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment 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 teaching wireless transmission double-core constant speed articulated robot
Control system, SCARA robot of the machine artificially based on four axis permanent-magnet DC servo motors, i.e., the described articulated robot use
Permanent-magnet DC servo motor X7 drives robot's arm rotary motion, drives robot forearm using permanent-magnet DC servo motor Y8
Rotary motion drives robot wrist's rotary motion using permanent-magnet DC servo motor Z9, using permanent-magnet DC servo motor R10
Robot wrist's elevating movement is driven, avoidance displacement sensor S1 12, avoidance displacement sensing are installed on the robot's arm
Device S2 13 and acceleration transducer A1 17 is equipped with avoidance displacement sensor S3 14, avoidance displacement on the robot forearm
Sensor S4 15 and acceleration transducer A2 18 is equipped with alignment sensor S5 16 and acceleration on the robot wrist
Sensors A 3 19.
The control system includes main website control computer 1 and controller 2, and the controller 2 is controlled including dsp chip
Device 3, image capture module 21, wireless transport module 20 and ARM controller 4, described image acquisition module 21 and wireless transmission mould
Communicated to connect between block 20, the dsp chip controller 3, wireless transport module 20 and ARM controller 4 with the main website control
Computer 1 processed communicates to connect, communication link between the dsp chip controller 3, wireless transport module 20 and ARM controller 4
It connects.The permanent-magnet DC servo motor X7, permanent-magnet DC servo motor Y8, permanent-magnet DC servo motor Z9 and Permanent magnet DC 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, acceleration transducer A1
17, acceleration transducer A2 18 and acceleration transducer A3 19 simultaneously with the dsp chip controller 3 and ARM controller 4
Communication connection.
Preferably, teaching of the invention wireless transmission double-core constant speed articulated robot control system further includes for the pass
It saves robot and control system provides the main power source 5 and backup power source 6 of power supply, each motor in the articulated robot
It is electrically connected with the main power source 5 and/or backup power source 6 with the controller 2 in sensor and control system.
Preferably, the permanent-magnet DC servo motor X 7, permanent-magnet DC servo motor Y 8, permanent-magnet DC servo motor Z
It is even on 9 and permanent-magnet DC servo motor R10 to be provided with photoelectric encoder 11, the photoelectric encoder 11 and the dsp chip control
Device 3 processed is electrically connected.
Preferably, described image acquisition module 21 is CCD camera component, is provided with solution in described image acquisition module 21
Code chip 22.
CCD is a kind of photoelectric conversion formula imaging sensor, it is directly changed into image information using photoelectricity transformation principle
Electric signal realizes the electrical measurement of non electrical quantity, while it also has that small in size, light-weight, noise is low, self-scanning, operating rate are fast,
Many advantages, such as measurement accuracy is high, the service life is long.It carries to handle in time as a result, this system joined the real-time figure based on CCD
As acquisition and wireless transmitting system.CCD camera exports analog signal, is decoded by decoding chip 22 to it, becoming can
The digital signal of programming, processing and storage convenient for ARM to digital picture, then by wireless system and main website carry out communication and
Transmission.
Control system of the invention uses DSP（TMS320F28335）+ ARM (STM32F746) dual-core controller, in power supply
Under opening state, ARM controller is first to robot backup power source SOC（State-of-charge）Judged with main power source, if spare
The energy is lower, and controller will be by wirelessly issuing alarm signal to master station；If backup power source and main power source are working properly, first by
The location information that transports goods is inputed to ARM by wireless device by main website, and the parameter of robot servo system is calculated by ARM；
SCARA robot is automatically led to zero position by image capturing system, and robot is introduced into self-locking state, once main website issues
Carrying command, obstacle avoidance sensor, alignment sensor and the acceleration transducer that robot carries are opened, and SCARA robot is pressed
According to the transport path fast removal of ARM setting optimization, DSP adjusts SCARA machine according to servo parameter and sensor feedback in real time
People's permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z and permanent-magnet DC servo motor R
PWM output, realizes the real-time servo control of four permanent-magnet DC servo motors, and CCD camera real-time detection is carried as a result, ARM
Processing and storage to digital picture are simultaneously transmitted by wireless system, and main website detect carrying by image comparison technology automatically and ties
Fruit.If ARM has a question to some position is carried, it will be communicated with DSP, DSP, which issues cutoff command, stops SCARA robot
Vehicle, then main website is judged by image comparison information is carried, and is confirmed errorless rear by wireless device restarting SCARA
Robot continues unfinished task；The position letter that transports goods newly is added by wireless device with ARM communication transfer in real time for main website
Breath updates robot servo system parameter by ARM, and communicates with DSP.
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 supply is opened, ARM can judge backup power source SOC and main power source, if standby electricity
When source SOC is lower, ARM will be communicated in DSP, and DSP will forbid four permanent-magnet DC servo motor work, and motor inputs PWM wave quilt
Block, while alarm sensor is by work and by wirelessly issuing alarm signal to master station；If battery SOC is normal, SCARA machine
Device people enters to working condition, waits the work order wirelessly issued.
2）The information such as large arm, forearm lengths and lifting pole length are passed to ARM controller by wireless device by main website,
ARM controller opens ccd image acquisition system, and then SCARA robot guides SCARA machine by image capturing system automatically
Zero-bit set of the people to setting work, each rotation angle of SCARA robot setting, wrist lifting height。
3）In order to meet the acceleration and deceleration needs of SCARA robot, the present invention uses the run duration ladder diagram such as Fig. 6, this
The area that ladder diagram includes is exactly the height of robot's arm, forearm and the wrist angle to be rotated either wrist lifting, is
Facilitate control, the present invention uses single acceleration model.
4）Wireless device issues motor pattern, and SCARA robot reads its operating mode by ARM, if it is artificial work
Operation mode, main website start to communicate with ARM controller, need to rotate by main website input SCARA robot's arm, forearm and wrist
Angle,,And SCARA robot wrist needs to rise the height of either declineTo ARM controller, ARM control
Device starts robot forward direction according to Denavit-Hartenberg algorithm and solves：ARM controller is first according to the SCARA machine National People's Congress
Arm, forearm and wrist need the angle rotated,,And the height that SCARA robot wrist needs to riseIt calculates
Position auto―control between adjacent two member coordinates,,,And with 4*4 two-dimensional array mark,,,,It respectively indicates as follows：
,,
,。
Then pass through formulaPosition after wrist actuator completion task can be found out and
Posture, then ARM and DSP is communicated, and transmits and parameter is manually entered.
5）Wireless device issues motor pattern, and SCARA robot reads its operating mode, if it is normal automatic transporting
Operating mode, main website start to communicate with ARM controller, as locating for main website input SCARA robot's arm, forearm and wrist just
Beginning position and given position three-dimensional coordinate to ARM controller, ARM controller starts machine according to Denavit-Hartenberg algorithm
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
Rising or reduced height, finally find out rotation angle, due to solvingWhen equation have it is bilingual, so
SCARA robot finds out the angle that large arm, forearm and wrist need to rotate,,And SCARA robot wrist needs
The height of risingAfterwards, ARM controller can optimize solving result, and then ARM controller and DSP are communicated, robot
Most there is servo motion parameter to be transferred to dsp controller.
6）Dsp controller receives the angle that SCARA robot's arm, forearm and wrist need to rotate,,And
SCARA robot wrist needs the height risenAfterwards, sensor S1 ~ S5 in large arm, forearm and wrist will be opened, first
SCARA robot judges that such as there is barrier will be same to DSP and ARM to the barrier in each rotating arm rotation angle
When issue interrupt requests, ARM and DSP can do interruption to be responded at the first time, first has DSP to block four axis PWM waves control signal defeated
Out, forbid permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z and the electricity of SCARA robot
Machine permanent-magnet DC servo motor R work, robot is self-locking in situ, and then ARM is issued to interrupt and be asked by wireless device to master station
It asks, information is judged by accident in order to prevent, and the obstacle information in the secondary judgement motion range of master station artificially handles barrier by master station,
Prevent barrier from influencing handling work.
7）If master station is secondary to determine that clear enters moving region by image taking results, wireless device will be passed through
It is communicated with DSP, DSP is according to the speed time curve of Fig. 6 three rotation angles,,Three Permanent magnet DC are converted into watch
Take acceleration, speed and the position initial order value of motor, DSP combination motor X, motor Y and motor Z current of electric feedback, light
The feedback of photoelectric coder feedback and acceleration transducer adjusts motor X, motor Y through three Close loop servo control programs of inside in real time
Signal is controlled with the PWM wave of motor Z, the deviation size that dsp controller is inputted according to three closed loops adjusts internal SERVO CONTROL in real time
The pid parameter of program adjusts its rotation angle by adjusting the number of drive pulses of permanent-magnet DC servo motor, by adjusting forever
The frequency that magnetic DC servo motor controls signal realizes the variation of angular speed speed, keeps for three axis permanent-magnet DC servo motor moment same
Work, the location parameter that DSP moment recorder people has moved are walked, and is transmitted in real time to master station by wireless.
8）In SCARA robot moving process, sensor S1 ~ S4 moment carries out the moving obstacle in motion range
Judgement, if there is barrier enters motion range, large arm, forearm and the wrist of SCARA robot are vertical according to the curve movement of Fig. 6
It stops, dsp controller records present rotation angel degree,,Information, and by wirelessly being communicated with main website；Equal barriers
After disappearance, main website recalculates the rotation angle to new position by ARM by wirelessly communicating with ARM,,And and DSP
Communication, DSP control robot and pass through three sections of motion profiles again according to the curve of Fig. 6：It accelerates, uniform motion and deceleration are transported
It is dynamic, eventually arrive at set point.
9）In moving process, the accelerometer moment records the angular acceleration of large arm, forearm and wrist rotation, and passes through two
Secondary integral obtains the rotation angle of large arm, forearm and wrist, and compared with the position angle angle value of setting, sets if deviation is greater than
Determine threshold values, in next sampling period, dsp controller adjusts permanent-magnet DC servo motor according to internal three closed-loop servo controllers
X, the pwm control signal of permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z, dsp controller are inputted 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 it and rotates angle, and the change of angular speed speed is realized by adjusting the frequency of permanent-magnet DC servo motor control signal
Change, and then eliminate the error of upper sampling period generation, SCARA robot is made to complete task according to setting track.
10）In SCARA robot kinematics, DSP can store passed through the location of SCARA robot at the moment
The reference point either passed through, and next reference point SCARA robot relatively is calculated by DSP according to these range informations
Angle that permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z to be run respectively, angle speed
Degree and angular acceleration, dsp controller is fed back in conjunction with angular-rate sensor, photoelectric encoder is fed back, according to its internal three closed loop
SERVO CONTROL program obtains the pwm control signal signal of three permanent-magnet DC servo motors, and dsp controller is inputted according to three 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
It rushes number and adjusts its rotation angle, the change of angular speed speed is realized by adjusting the frequency of permanent-magnet DC servo motor control signal
Change, SCARA robot is made quickly to move ahead according to setting speed.
11）Three axis, which are completed, in SCARA robot rotates angle,,SERVO CONTROL after, DSP secondary detection accelerate
The integrated value for spending sensor, if it find that SCARA robot is in motion process by three rotation angles after external interference,
,When difference with set angle is more than setting threshold values, ccd image acquisition system acquires in real time carries information, after ARM is handled
By wireless device to master station issue image transmitting request, master station by image comparison technology detect automatically carry as a result, if
It is implicitly present in certain error, master station starts to communicate with DSP by wireless device, and DSP is three rotation angular deviations,,Be converted into acceleration, speed and the position initial order value of three permanent-magnet DC servo motor fine positions, DSP in conjunction with
The feedback of motor X, motor Y and motor Z current of electric feedback, photoelectric encoder feedback and acceleration transducer, through inside DSP three
The PWM wave that Close loop servo control program adjusts motor X, motor Y and motor Z controls signal, and dsp controller is inputted according to three 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
It rushes number and adjusts its rotation angle, the change of angular speed speed is realized by adjusting the frequency of permanent-magnet DC servo motor control signal
Change, so that robot's arm, forearm and wrist is reached setting position by the task again of three axis permanent-magnet DC servo motors.
12）When the large arm of SCARA robot, forearm and wrist complete angle,,Angle compensation reach setting
Behind position, speed time curve of the DSP according to Fig. 6, the distance that wrist is gone up and downIt is converted into permanent-magnet DC servo motor R
Acceleration, speed and position initial order value, then the current feedback of DSP combination motor R, photoelectric encoder feedback and sensing
The feedback of device S5, through inside three Close loop servo control programs adjust in real time motor R PWM wave control signal, dsp controller according to
The deviation size of three closed loops input adjusts the pid parameter of internal SERVO CONTROL program in real time, by adjusting Permanent magnet DC servo electricity
The number of drive pulses of machine adjusts it and rotates angle, and the frequency by adjusting permanent-magnet DC servo motor control signal realizes angle speed
The variation for spending speed, makes wrist steadily reach setting position within the set time.
13）During the motion if the discovery location parameter solution of SCARA robot occurs during endless loop will issue to ARM
Disconnected request, ARM can do interruption to be responded at the first time, and ARM controller will be communicated with DSP immediately, and DSP blocks four permanent magnetism immediately
The control signal of DC servo motor, robot original place are self-locking；ARM controller is communicated by wireless device and main website, CCD
Moment acquires peripheral information and by wireless transmission, and main website analyzes Image Acquisition information, and secondary according to collection result
SCARA robot is restarted, information is carried by secondary input to SCARA robot of wireless device.
14）Mounted in permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent-magnet DC servo motor Z, Permanent magnet DC
Photoelectric encoder on servo motor R can export its position signal A and position signal B, the position signal A pulse of photoelectric encoder
Primary with the every variation of B pulsed logic state, the location register in DSP can add 1 either to subtract 1 according to the traffic direction of motor；
When the position signal A pulse and B pulse and Z pulse of photoelectric encoder are simultaneously low level, just generate an INDEX signal and give
DSP internal register records the absolute position of permanent-magnet DC servo motor, be then convert into SCARA robot's arm, forearm or
Person is specific location of the wrist in three-dimensional coordinate system, and DSP issues data transmission information to master station in real time by wireless device.
15）SCARA robot is monitored AC ac main power 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 backup power source, be four axis by backup power source
Permanent-magnet DC servo motor provides energy, and adjusts four permanent magnetism in real time by three closed loop servo-control system programs inside DSP
The PWM of DC servo motor is exported, and is adjusted its rotation angle by adjusting the number of drive pulses of permanent-magnet DC servo motor, is led to
The frequency for crossing adjustment permanent-magnet DC servo motor control signal realizes the variation of angular speed speed, and SCARA robot is made to complete this
Simultaneously original place is self-locking for secondary carrying task, and then with main website by wirelessly being communicated, notice main website is overhauled for SCARA robot.
16）SCARA robot in the handling process, if there is new task input in main website, main website is first passed through without traditional thread binding
It sets and new task is communicated and transmitted with ARM, ARM controller calculates new SERVO CONTROL location parameter and communicates with DSP,
DSP completes current task first, and updates next servo-controlled location parameter.
17）SCARA robot in the handling process, main website can carry out the acquisition image based on CCD automatically analyzing pair
Than a certain position of such as finding the problem is there are when problem, and main website first passes through wireless device and DSP is communicated, and DSP is completed first as predecessor
It is engaged in and stops in setting zero position, there is main website to detect carrying automatically as a result, updating one under DSP after automatic detection by ARM
A servo-controlled location parameter.
18）In the SCARA robot Multi-asis servo system course of work, if DSP servo controller detects some
The torque of permanent-magnet DC servo motor is pulsed, the permanent-magnet DC servo motor torque and current of electric used due to the present invention
It is in direct ratio, therefore controller can be easy to compensate this interference, and be joined according to the PID that interference size DSP adjusts electric current loop in real time
Number reduces influence of the motor torque disturbance to SCARA robot kinematics.
19）When SCARA robot complete task, realize position zero when, carry acceleration transducer A1 ~ A3 can when
It carves and detects its acceleration, when acceleration is more than preset threshold, upper a cycle band can be corrected in next cycle dsp controller
The error come, while it being based on ccd image acquisition system real-time working, and guided robot homing guidance sets zero-bit to robot
Set, SCARA robot realizes playback from certain point to zero-bit according to the Velocity-time curve movement of Fig. 6, then zero-bit from
Lock, waits next carrying command.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all 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 teaching wireless transmission double-core constant speed articulated robot control system, which is characterized in that the articulated robot
Drive robot small using permanent-magnet DC servo motor X driving robot's arm rotary motion, using permanent-magnet DC servo motor Y
Arm rotary motion drives robot wrist's rotary motion using permanent-magnet DC servo motor Z, using permanent-magnet DC servo motor R
Robot wrist's elevating movement is driven, avoidance displacement sensor S1, avoidance displacement sensor are installed on the robot's arm
S2 and acceleration transducer A1, be equipped on the robot forearm avoidance displacement sensor S3, avoidance displacement sensor S4 and
Acceleration transducer A2 is equipped with alignment sensor S5 and acceleration transducer A3, the control on the robot wrist
System includes main website control computer and controller, and the controller includes dsp chip controller, image capture module, wireless
Transmission module and ARM controller communicate to connect between described image acquisition module and wireless transport module, the dsp chip control
Device, wireless transport module and ARM controller processed control computer with the main website and communicate to connect, the dsp chip controller,
Wireless transport module and ARM controller communicate to connect each other, the permanent-magnet DC servo motor X, Permanent magnet DC servo electricity
Machine Y, permanent-magnet DC servo motor Z and permanent-magnet DC servo motor R are communicated to connect with the dsp chip controller, described to keep away
Hinder 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, nothing
Line transmission module and ARM controller communication connection, the permanent-magnet DC servo motor X, permanent-magnet DC servo motor Y, permanent magnetism are straight
Photoelectric encoder, the photoelectric encoder and the DSP core are provided on flow servo motor Z and permanent-magnet DC servo motor R
Piece controller is electrically connected, and described image acquisition module is CCD camera component, is provided with decoding in described image acquisition module
Chip.
2. teaching according to claim 1 wireless transmission double-core constant speed articulated robot control system, which is characterized in that
It further include that the main power source and backup power source of power supply are provided for the articulated robot and control system, in the articulated robot
Controller in each motor and sensor and control system electrically connects with the main power source and/or backup power source
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409107.0A CN106003060B (en) | 2016-06-13 | 2016-06-13 | A kind of teaching wireless transmission double-core constant speed articulated robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610409107.0A CN106003060B (en) | 2016-06-13 | 2016-06-13 | A kind of teaching wireless transmission double-core constant speed articulated robot control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106003060A CN106003060A (en) | 2016-10-12 |
| CN106003060B true CN106003060B (en) | 2018-11-16 |
Family
ID=57090994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610409107.0A Active CN106003060B (en) | 2016-06-13 | 2016-06-13 | A kind of teaching wireless transmission double-core constant speed articulated robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106003060B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202480102U (en) * | 2012-03-27 | 2012-10-10 | 赵田 | Three-dimensional sensing and controlling mechanical arm |
| CN102735318A (en) * | 2011-04-12 | 2012-10-17 | 塔姆特豪思公司 | Measurement system for a material transfer vehicle |
| 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 |
| CN103286785A (en) * | 2013-06-26 | 2013-09-11 | 苏州工业园区职业技术学院 | Wireless cable inspection robot and control system thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827469B (en) * | 2013-10-10 | 2016-10-19 | 精工爱普生株式会社 | Robot controller, robot system, robot and robot control method |
-
2016
- 2016-06-13 CN CN201610409107.0A patent/CN106003060B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102735318A (en) * | 2011-04-12 | 2012-10-17 | 塔姆特豪思公司 | Measurement system for a material transfer vehicle |
| CN202480102U (en) * | 2012-03-27 | 2012-10-10 | 赵田 | Three-dimensional sensing and controlling mechanical arm |
| 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 |
| CN103286785A (en) * | 2013-06-26 | 2013-09-11 | 苏州工业园区职业技术学院 | Wireless cable inspection robot and control system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106003060A (en) | 2016-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103676653A (en) | Servo synchronous control method and system applied to gantry mechanism | |
| CN109626002A (en) | Automatic stacking machine people and its control method | |
| CN109605344B (en) | Multi-degree-of-freedom open-loop stepping series mechanical arm and control method thereof | |
| CN105856244B (en) | A kind of five core high speed articulated robot control systems of heavy duty wireless transmission | |
| CN104483897A (en) | Direct-drive gantry type motion platform contour control device and method | |
| CN105929791B (en) | The direct contour outline control method of plane rectangular coordinates kinematic system | |
| CN105922270B (en) | A kind of teaching wireless transmission quick articulated robot control system of three cores | |
| CN106003029B (en) | A kind of teaching quick articulated robot control system of three cores | |
| CN106003060B (en) | A kind of teaching wireless transmission double-core constant speed articulated robot control system | |
| CN105945957B (en) | A kind of underloading wireless transmission quick articulated robot control system of four cores | |
| CN207408790U (en) | A kind of copline cricket experimental system based on image procossing | |
| CN105945958B (en) | A kind of four core constant speed articulated robot control systems of heavy duty wireless transmission | |
| CN106003030A (en) | Dual-core constant-velocity control system for joint robot for teaching | |
| CN105945959B (en) | A kind of quick articulated robot control system of heavily loaded five core | |
| CN106041939A (en) | Light-load wireless transmission three-core constant-speed joint robot control system | |
| JPS6254685A (en) | Method of controlling drive of travelling type arm robot | |
| CN106003061B (en) | A kind of three core constant speed articulated robot control systems of underloading | |
| CN110155640A (en) | A kind of obstacleable industrial production material transfer robot | |
| CN106041940A (en) | Heavy-load wireless transmission five-core high-speed joint robot control system | |
| CN106003063A (en) | Heavy-load quad-core constant-velocity joint robot control system | |
| CN214174915U (en) | Navigation control system for wall-climbing robot | |
| CN106003062A (en) | Light-load and four-kernel fast joint robot control system | |
| CN209583061U (en) | Automatic stacking machine people | |
| CN105945960A (en) | Overloaded five-core high-speed joint robot control system | |
| Liu et al. | Design of Intelligent Logistics Car based on STM32 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190507 Address after: 211106 Jiangsu Jiangning Economic and Technological Development Zone, Nanjing City, Jiangsu Province, 19 Suyuan Avenue, Kowloon Lake International Enterprise Headquarters Park, Block C4, 2nd Floor Patentee after: Runtou Intelligent Science and Technology Research Institute Jiangsu Co., Ltd. Address before: 211106 first floor, block C4, Kowloon Lake International Business Park, 19 Jiangning economic and Technological Development Zone, Nanjing, Jiangsu. Patentee before: Jiangsu Ruobo Robot Technology Co., Ltd. |
|
| TR01 | Transfer of patent right |