CN106003061B - A kind of three core constant speed articulated robot control systems of underloading - Google Patents
A kind of three core constant speed articulated robot control systems of underloading Download PDFInfo
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- CN106003061B CN106003061B CN201610412200.7A CN201610412200A CN106003061B CN 106003061 B CN106003061 B CN 106003061B CN 201610412200 A CN201610412200 A CN 201610412200A CN 106003061 B CN106003061 B CN 106003061B
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- 229910052761 rare earth metal Inorganic materials 0.000 claims abstract description 98
- 150000002910 rare earth metals Chemical class 0.000 claims abstract description 98
- 230000001133 acceleration Effects 0.000 claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 210000000707 wrist Anatomy 0.000 claims description 43
- 210000000245 forearm Anatomy 0.000 claims description 28
- 230000005611 electricity Effects 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 210000000617 arm Anatomy 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 3
- 229910052799 carbon Inorganic materials 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000003610 charcoal Substances 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000003252 repetitive effect Effects 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
- 230000002463 transducing effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
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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
-
- 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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- Automation & Control Theory (AREA)
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- Evolutionary Computation (AREA)
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- Control Of Motors That Do Not Use Commutators (AREA)
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Abstract
The invention discloses a kind of three core constant speed articulated robot control systems of underloading, the control system includes main website control computer and controller, the controller includes dsp chip controller, 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 magnet brushless DC servo motors are communicated to connect with the dsp chip controller, multiple avoidance displacement sensors, alignment sensor S5, acceleration transducer A1, acceleration transducer A2 and acceleration transducer A3 is communicated to connect with the dsp chip controller and ARM controller.The three core constant speed articulated robot control system calculating speed of underloading 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, low noise, and system rejection to disturbance ability is strong.
Description
Technical field
The present invention relates to a kind of three core constant speed articulated robot control systems of underloading, 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 articulated robots want the moment to judge the location parameter of master controller input during transporting goods, and sentence
Environment moment avoidance around disconnected, then by motion controller repetitive control, its accurate acceleration and deceleration are transported goods,
Deviation accumulation slightly is possible to cause transport to fail in more bouts move.Although use of the country to SCARA robots
There are a decades, but since domestic industry robot develops starting than later, is influenced by more key technology, SCARA machines
Man-based 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）When SCARA robots carry out zero position playback or when robot resets, relies on and manually estimate
Mode so that the zero position setting of robot is wrong.
（2）Although permanent-magnet DC servo motor increases compared with direct current generator, stepper motor function, common permanent magnetism is straight
Flow servo motor is to have brush configuration, because there are collector ring charcoal brush configuration, spark is generated in motor operation, especially in high speed
Serious ring fire will be generated, radio interference is generated, is not suitable for high speed rotation, is not suitable for the SCARA machines for applying to run with load
Device people.
（3）Permanent-magnet DC servo motor is to have brush configuration, is in direct contact between collector ring and carbon brush and high speed relative motion,
This mechanical structure to generate larger mechanical noise with the presence of mechanical friction so that the noise pollution of SCARA robots increases
Greatly.
（4）Permanent-magnet DC servo motor is to have brush configuration, needs to regularly replace carbon brush, motor can only use open-type protective
Form, and brushed DC motor efficiency is low, is not suitable for the SCARA robots for applying to run with load.
Invention content
The invention mainly solves the technical problem of providing a kind of three core constant speed articulated robot control systems of underloading, this is light
It is fast to carry three core constant speed articulated robot control system calculating speeds, make articulated robot arm turn to flexibly, motion stability it is accurate,
Compact, performance are stablized, and noise is low, 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：There is provided a kind of underloading three core constant speed joint machines
Device people's control system, the articulated robot is using rare earth permanent magnet brushless DC servo motor X driving robot's arm rotation fortune
It moves, watched using the rotary motion of rare earth permanent magnet brushless DC servo motor Y driving robot forearms, using rare earth permanent magnet brushless DC
Take motor Z driving robot wrists rotary motion, using the R driving robot wrist's liftings of rare earth permanent magnet brushless DC servo motor
It moves, avoidance displacement sensor S1, avoidance displacement sensor S2 and acceleration transducer A1 is installed on the robot's arm,
Avoidance displacement sensor S3, avoidance displacement sensor S4 and acceleration transducer A2 are installed on the robot forearm, it is described
Alignment sensor S5 and acceleration transducer A3 are installed, the control system includes that main website control calculates on robot wrist
Machine and controller, the controller include dsp chip controller, PlC controllers and ARM controller, the dsp chip controller
It is communicated to connect with the main website control computer, the dsp chip controller is communicated to connect with ARM controller, the PlC controls
Device is communicated to connect with ARM controller, the rare earth permanent magnet brushless DC servo motor X, rare earth permanent magnet brushless DC servo motor
Y, rare earth permanent magnet brushless DC servo motor Z and rare earth permanent magnet brushless DC servo motor R is logical with the dsp chip controller
Letter connection, 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 connection.
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 magnet brushless DC servo motor X, rare-earth permanent magnet brushless are straight
It is even on flow servo motor Y, rare earth permanent magnet brushless DC servo motor Z and rare earth permanent magnet brushless DC servo motor R to be provided with light
Photoelectric coder, the photoelectric encoder are 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 three core constant speed articulated robot control system calculating speed of underloading 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.
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 magnet brushless DC servo motor SCARA robots two-dimensional structure figures；
Fig. 3 is based on three core, four axis rare earth permanent magnet brushless DC servo motor SCARA robot controller schematic diagrams；
Fig. 4 is based on three core, four axis rare earth permanent magnet brushless DC servo motor SCARA robot program's block diagrams；
Fig. 5 is based on three core, four axis rare earth permanent magnet brushless DC servo motor motion principle figure；
Fig. 6 is four spindle motor acceleration and deceleration curves figures；
Fig. 7 is the three core constant speed articulated robot control system architecture schematic diagram of underloading 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 magnet brushless DC servo motor X, 8, rare earth permanent magnet brushless DC
Servo motor Y, 9, rare earth permanent magnet brushless DC servo motor Z, 10, rare earth permanent magnet brushless DC servo motor R, 11, photoelectricity compiles
Code device, 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 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, magnetoelectricity passes
Sensor EM4.
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 three core constant speed articulated robot control systems of underloading, should
SCARA robot of the machine artificially based on four axis rare earth permanent magnet brushless DC servo motors, i.e., the described articulated robot is using dilute
Native DC permanent-magnetic brushless servo motor X7 drives robot's arm rotary motion, using rare earth permanent magnet brushless DC servo motor Y8
Drive robot forearm rotary motion, using rare earth permanent magnet brushless DC servo motor Z9 driving robot wrists rotary motion,
Robot wrist's elevating movement is driven using rare earth permanent magnet brushless DC servo motor R10, is equipped on the robot's arm
Avoidance displacement sensor S1 12, avoidance displacement sensor S2 13 and acceleration transducer A1 17 pacify on the robot forearm
Equipped with avoidance displacement sensor S3 14, avoidance displacement sensor S4 15 and acceleration transducer A2 18, the robot wrist
On alignment sensor S5 16 and acceleration transducer A3 19 are installed.
The control system includes main website control computer 1 and controller 2, and the controller 2 is controlled including dsp chip
Device 3, PLC controller 20 and ARM controller 4, the dsp chip controller 3 are communicated to connect with the main website control computer 1,
The dsp chip controller 3 is communicated to connect with ARM controller 4, and the PlC controllers 20 are communicated to connect with ARM controller 4, institute
State rare earth permanent magnet brushless DC servo motor X7, rare earth permanent magnet brushless DC servo motor Y8, rare earth permanent magnet brushless DC servo
Motor Z9 and rare earth permanent magnet brushless DC servo motor R10 is communicated to connect with the dsp chip controller 3, the avoidance position
Displacement sensor S1 12, avoidance displacement sensor S2 13, avoidance displacement sensor S3 14, avoidance displacement sensor S4 15, determine
Level sensor S5 16, acceleration transducer A1 17, acceleration transducer A2 18 and acceleration transducer A3 19 simultaneously with
The dsp chip controller 3, PLC controller 20 and ARM controller 4 communicate to connect.
Preferably, three core constant speed articulated robot control system of underloading 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 magnet brushless DC servo motor X 7, rare earth permanent magnet brushless DC servo motor Y 8, dilute
It is even on native DC permanent-magnetic brushless servo motor Z 9 and rare earth permanent magnet brushless DC servo motor R10 to be provided with photoelectric encoder 11,
The photoelectric encoder 11 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（TMS320F2812）+ PLC controller 20+ ARM（STM32F746）Three nuclear control devices.This hair
Bright controller principle figure such as Fig. 3：Under power-on state, ARM controller is first to robot stand-by power supply SOC（Charged shape
State）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 electricity
Source is working properly, and elder generation is by master station by PLC controller transport goods large arm, forearm and wrist rotation angle and adjustable height
The each coordinate information for either copying cargo mechanically inputs to ARM, and the parameter of robot servo system is then calculated by ARM；
Zero position sensor EM1, EM2, EM3 and EM4 that SCARA robots carry start to work, and robot is made to reset to setting zero-bit
It sets, robot enters self-locking state；After carrying command starts, robot carry avoidance sensor, alignment sensor and
Acceleration transducer is opened, and the transport path fast removal that SCARA robots optimize according to setting ARM, DSP joins according to servo
It counts and sensor feedback adjusts SCARA robots rare earth permanent magnet brushless DC servo motor X in real time, rare earth permanent magnet brushless DC is watched
The PWM outputs for taking motor Y, rare earth permanent magnet brushless DC servo motor Z and rare earth permanent magnet brushless DC servo motor R, realize four
The real-time servo of platform rare earth permanent magnet brushless DC servo motor controls, and ARM acquires robot movable information and stores cargo in real time
Location information will communicate, DSP, which sends out cutoff command, makes SCARA robots if had a question to carrying some position with DSP
Parking, then manually to carry information judge, confirm it is errorless after it is secondary manually start SCARA robots continue it is unfinished
Task.
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, ARM can judge stand-by power supply SOC and main power source, if standby electricity
When source SOC is relatively low, DSP will forbid four rare earth permanent magnet brushless DC servo motor work, motor input PWM wave to be blocked, together
Alarm sensor will work and send out alarm signal；If battery SOC is normal, SCARA robots, which enter, waits for working condition, etc.
Wait for work order.
2）Once master station's work order starts, PLC starts to communicate with ARM, and PLC controller is large arm, forearm lengths and liter
It drops the information such as the length of bar and ARM controller is passed to by RS484, then robot starts to correct zero position, SCARA robots
Magnetoelectric transducer EM1, EM2, EM3 and EM4 of carrying start to work, and respectively find the zero position mark of setting, when magnetoelectricity passes
When sensor EM1, EM2, EM3 and EM4 have signal output, DSP blocks the PWM of four road rare earth permanent magnet brushless DC servo motors
Wave control signal, SCARA robots guide zero position to reset and complete automatically, and ARM controller sets each rotation angle at this time, wrist lifting height。
3）In order to meet the acceleration and deceleration needs of SCARA robots, 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
Control, the present invention is facilitated to use single acceleration model.
4）SCARA robots read its operating mode, and if it is manual working pattern, main website begins through PLC and ARM and controls
Device communication processed needs the angle rotated by main website input SCARA robot's arms, forearm and wrist,,And SCARA
Robot wrist needs to rise the height either declinedTo ARM controller, ARM controller is according to Denavit-
Hartenberg algorithms start robot forward direction and solve：ARM controller is first according to SCARA robot's arms, forearm and wrist
Need the angle rotated,,And SCARA robot wrists need the height risenAdjacent two rod piece is calculated to sit
Position auto―control between mark system,,,4*4 two-dimensional array marks are used in combination,,,,Point
It Biao Shi not be as follows：
,,
,。
Then pass through formulaCan find out the position after wrist actuator completion task and
Posture, then ARM and DSP is communicated, and transmits artificial input parameter.
5）SCARA robots read its operating mode, and if it is normal automatic transporting operating mode, main website is begun through
PLC and ARM controller communicate, by residing for main website input SCARA robot's arms, forearm and wrist initial position and to positioning
Three-dimensional coordinate is set to ARM controller, it is Converse solved that ARM controller according to Denavit-Hartenberg algorithms starts robot：
ARM controller finds out large arm according to the X and Y coordinates in large arm, forearm lengths and final three-dimensional coordinate first and needs to rotate
Angle, and byValue find outValue, and according to the Z coordinate in three-dimensional coordinate find out wrist rise or reduce
Highly, finally find out rotation angle, due to solvingWhen equation have it is bilingual, so SCARA robots are found out
Large arm, forearm and wrist need the angle rotated,,And SCARA robot wrists need the height risenAfterwards,
ARM controller can optimize solving result, and then ARM controller is communicated with DSP, and robot servo kinematic parameter is transmitted
To dsp controller.
6）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, then blocks the control signal output of four axis PWM waves, forbid the rare earth permanent magnets of SCARA robots without
Brush DC servo motor X, rare earth permanent magnet brushless DC servo motor Y, rare earth permanent magnet brushless DC servo motor Z and motor rare earth
The R work of DC permanent-magnetic brushless servo motor, robot self-locking is in situ, the secondary obstacle judged in motion range of dsp controller
Object information, prevents information from judging by accident.
7）If dsp controller determines that clear enters moving region, according to the speed time curve of Fig. 6, DSP is three
A rotation angle,,Acceleration, speed and the position for being converted into three rare earth permanent magnet brushless DC servo motors are initial
Command value, then DSP combinations motor X, motor Y and motor Z current of electric are fed back, photoelectric encoder is fed back and acceleration transducer
Feedback, through inside three closed loop rare earth permanent magnet brushless DC Serve Motor Control programs adjust motor X, motor Y and motor Z in real time
PWM wave control signal, the deviation size that dsp controller input according to three closed loops adjust in real time inside SERVO CONTROL program
Pid parameter adjusts its rotation angle by adjusting the number of drive pulses of rare earth permanent magnet brushless DC servo motor, by adjusting
The frequency of rare earth permanent magnet brushless DC Serve Motor Control signal realizes the variation of angular speed speed, makes three axis rare-earth permanent magnet brushless
DC servo motor timing synchronization works, the location parameter that DSP moment recorder people have moved.
8）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, large arm, forearm and the wrist of SCARA robots are vertical according to the curve movement of Fig. 6
It stops, dsp controller records present rotation angel degree,,Information recalculates after waiting barriers to disappear to new position
The rotation angle set,,, then pass through three sections of movement locus again according to the curve of Fig. 6：It accelerates, uniform motion
And retarded motion, eventually arrive at set point.
9）In moving process, the accelerometer moment records the angular acceleration that large arm, forearm and wrist rotate, 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, is set if deviation is more than
Determine threshold values, in next sampling period, dsp controller is according to internal three closed loop rare earth permanent magnet brushless DC Serve Motor Control journeys
Sequence adjustment rare earth permanent magnet brushless DC servo motor X, rare earth permanent magnet brushless DC servo motor Y, rare earth permanent magnet brushless DC are watched
The pwm control signal of motor Z is taken, the deviation size that dsp controller is inputted according to three closed loops adjusts internal servo control processing procedure in real time
The pid parameter of sequence adjusts its rotation angle by adjusting the number of drive pulses of rare earth permanent magnet brushless DC servo motor, passes through
The frequency for adjusting rare earth permanent magnet brushless DC Serve Motor Control signal realizes the variation of angular speed speed, and then eliminates upper one
The error that sampling period generates makes SCARA robots complete task according to setting track.
10）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 magnet brushless DC servo motor X, rare earth permanent magnet brushless DC servo motor Y, rare earth permanent magnet brushless DC servo motor Z
Angle, angle rates and the angular acceleration to be run respectively, dsp controller is in conjunction with angular-rate sensor feedback, photoelectric coding
Device is fed back, and the PWM for obtaining three rare earth permanent magnet brushless DC servo motors according to its internal three Close loop servo control program is controlled
Signal, the deviation size that dsp controller is inputted according to three closed loops adjust the pid parameter of internal SERVO CONTROL program in real time,
Its rotation angle is adjusted by adjusting the number of drive pulses of rare earth permanent magnet brushless DC servo motor, by adjusting rare earth permanent magnet
Brushless DC servomotor controls the variation of the frequency realization angular speed speed of signal, makes SCARA robots according to setting speed
Quickly move ahead.
11）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 platform rare earth permanent magnet brushless DC servo motor fine position, DSP is in conjunction with motor
X, the feedback of motor Y and motor Z current of electric feedback, photoelectric encoder feedback and acceleration transducer, through three closed loops inside DSP
The PWM wave that SERVO CONTROL program adjusts motor X, motor Y and motor Z controls signal, and dsp controller inputs inclined according to three closed loops
Poor size adjusts the pid parameter of internal SERVO CONTROL program in real time, by adjusting the drive of rare earth permanent magnet brushless DC servo motor
Moving pulse number adjusts its rotation angle, and angle is realized by adjusting the frequency of rare earth permanent magnet brushless DC Serve Motor Control signal
The variation of speed speed, by the task again of three axis rare earth permanent magnet brushless DC servo motors make robot's arm, forearm and
Wrist reaches setting position.
12）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 liftedIt is straight to be converted into rare-earth permanent magnet brushless
Acceleration, speed and the position initial order value of flow servo motor R, the then current feedback of DSP combinations motor R, photoelectric coding
Device is fed back and the feedback of sensor S5, and the PWM wave for adjusting motor R in real time through three Close loop servo control programs of inside controls signal,
The deviation size that dsp controller is inputted according to three closed loops adjusts the pid parameter of internal SERVO CONTROL program in real time, by adjusting dilute
The number of drive pulses of native DC permanent-magnetic brushless servo motor adjusts its rotation angle, is watched by adjusting rare earth permanent magnet brushless DC
The frequency for taking motor control signal realizes the variation of angular speed speed, and wrist is made steadily to reach setting position in setting time.
13）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 blocks four rare earths immediately
The control signal of DC permanent-magnetic brushless servo motor, then robot original place self-locking, and abandon carrying work, then by main website root
It is analyzed according to storage information, after analysis, main website inputs new operating position information to ARM controller by PLC.
14）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 open PLC controller, be communicated by PLC controller and ARM by main website, and PLC is by RS485 to ARM
The position servo parameter of vital task is inputted, ARM and DSP is communicated, and completes currently outstanding task, while ARM by DSP first
The original servo control parameter queues of DSP are updated, and transmit new servo position parameter to DSP, make the next servos of DSP
Important temporary duty is completed in motion control.
15）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 internal three closed loop rare earth permanent magnet brushless DC Serve Motor Control programs
Error is compensated, eliminates cumulative errors in time.
16）Mounted in rare earth permanent magnet brushless DC servo motor X, rare earth permanent magnet brushless DC servo motor Y, rare earth permanent magnet without
Photoelectric encoder on brush DC servo motor Z, rare earth permanent magnet brushless DC servo motor R can export its position signal A and position
Confidence B, the position signal A pulses of photoelectric encoder and B pulsed logics state often change once, and the position in DSP and ARM is posted
Storage can add 1 either to subtract 1 according to the traffic direction of motor；The position signal A pulses and B pulses and Z pulses of photoelectric encoder
When being low level simultaneously, just generates an INDEX signal and DSP and ARM internal registers, record rare earth permanent magnet brushless DC is given to watch
The absolute position for taking motor is then convert into SCARA robot's arms, forearm either tool of the wrist in three-dimensional coordinate system
Body position, ARM controller are communicated by PLC and main website in real time, and important location parameter is transferred to main website.Work as magnetoelectric transducer
When EM1, EM2 and EM3 read transducing signal, dsp controller will replace existing location parameter with zero position parameter, eliminate in time
Cumulative errors.
17）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 magnet brushless DC servo motor provides energy, and is adjusted in real time by three closed loop servo-control system programs inside DSP
The PWM outputs of four rare earth permanent magnet brushless DC servo motors, by adjusting the driving of rare earth permanent magnet brushless DC servo motor
Pulse number adjusts its rotation angle, and angle speed is realized by adjusting the frequency of rare earth permanent magnet brushless DC Serve Motor Control signal
The variation for spending speed makes SCARA robots complete current carrying task, and then SCARA robots are led to by PLC and main website
News, and main website is notified to be overhauled.
18）In the SCARA robots Multi-asis servo system course of work, if DSP servo controllers detect some
The torque of rare earth permanent magnet brushless DC servo motor is pulsed, the rare earth permanent magnet brushless DC servo electricity used due to the present invention
Machine power square and current of electric are in direct ratio, therefore controller can be easy to compensate this interference, and are adjusted in real time according to interference size DSP
The pid parameter of whole electric current loop reduces influence of the motor torque disturbance to SCARA robot kinematics.
19）When SCARA robots complete a series of tasks, realize position zero, the acceleration transducer A1 that carries ~
A3, magnetoelectric transducer EM1, EM2, EM3 and EM4 can work at the moment, first have acceleration transducer to detect its acceleration, work as acceleration
When more than pre-set threshold value, the error that upper a cycle is brought can be corrected in next cycle dsp controller, works as magnetoelectric transducer
When EM1, EM2, EM3, EM4 have signal output, DSP blocks the PWM wave control of four road rare earth permanent magnet brushless DC servo motors
Signal, SCARA robots guide automatically zero position reset complete, SCARA robots according to Fig. 6 Velocity-time curve movement
It realizes the playback from certain point to zero-bit and zero-bit self-locking, waits for next group motion command queue.
The invention has the advantages that：
1, in SCARA robot kinematics, the effect of power supply in this system has been fully considered, in order to ensure to lead
The integrality to work after power cut-off, system add stand-by power supply.Based on the tri- nuclear control device moment of ARM+DSP+PLC all right
Power supply status is monitored and operation, has both avoided the generation of circuit high current, also the effective protection servo of SCARA robots
Hardware system.
2, by four rare earth permanent magnet brushless DC servo motors of DSP processing SCARA robots, since rare-earth permanent magnet brushless is straight
The torque of flow servo motor and electric current are in direct ratio so that control is fairly simple, substantially increases arithmetic speed, solves monolithic
The slower bottleneck of machine running software, it is short to shorten the development cycle, and program transportability ability is strong.
3, the present invention realizes full SMD components material substantially, realizes veneer control, not only saves control panel occupancy
Space, and be conducive to the mitigation of SCARA robots volume and weight.
4, SCARA robots of the present invention use rare earth permanent magnet brushless DC servo motor instead of in traditional robot system
Common stepper motor and direct current generator, permanent-magnet DC servo motor, it is more efficient due to its volume smaller so that SCARA machines
Device human body product can further reduce, and energy utilization rate greatly improves.
5, SCARA robots of the present invention use rare earth permanent magnet brushless DC servo motor instead of in traditional robot system
Common stepper motor and direct current generator are conducive to the quick acceleration for improving robot and deceleration since its rotary inertia is smaller
Dynamic property.
6, due to using rare earth permanent magnet brushless DC servo motor so that system load capacity increases, and speed adjustable range compares
Width, contrast of regulating speed is steady, is conducive to the dynamic property of raising system.
7, risen using large arm, the rotation angle of forearm and wrist and wrist in ARM processing D-H algorithms due to this controller
Highly, DSP is freed from hard work amount, effectively prevents " run and fly " of program, anti-interference ability increases
By force.
8, in control, dsp controller can according to robot periphery operating condition in due course adjustment four axis rare earth permanent magnets without
The servo-controlled pid parameter of brush DC servo motor realizes segmentation P, PD, PID control and nonlinear PID controller, keeps system dynamic
State property can greatly improve.
9, in SCARA robots equipped with avoidance sensor, can measure easily the large arm of SCARA robots, forearm and
The distance of surrounding cargo can effectively avoid the generation of collision.
10, be equipped with positioning system on SCARA robot wrists, can detect easily between wrist and cargo away from
From, can effectively realize smoothly crawl cargo.
11, the data storage function based on DSP facilitates staff to read carrying after making SCARA robots completion task
Cargo carries error message and specific location as a result, can easily be read from storage result, then change in time.
12, the addition of multiple two axis accelerometers can effectively measure acceleration of the robot in synchronous rotary, speed
And rotation angle, dsp controller can compensate adjustment at the moment to this angle, effectively control the postures of SCARA robots with
Position.
13, double set sensing systems based on accelerometer and brushless DC servomotor photoelectric encoder make multiaxis
SCARA robots have certain redundancy, greatly improve the accuracy of SCARA robots rotation, effectively eliminate error.
14, the addition of zero position magnetoelectric transducer can effectively make SCARA robots carry out zero position reset automatically, solve
The various problems occurred are resetted by artificial range estimation.
15, rare earth permanent magnet brushless DC servo motor is brushless structure, since there is no collector ring charcoal brush configuration, is eliminated
Brush motor generates the generation of pyrophoric behavio(u)r so that the application range augmentation of SCARA robots.
16, rare earth permanent magnet brushless DC servo motor is brushless structure, since there is no rubbing between collector ring and carbon brush
It wipes so that the mechanical noise pollution of SCARA robots greatly reduces.
17, it is communicated by PLC between main website and ARM so that can be carried out in real time between control master station and controller
Data communication and calling so that it is very simple that movement queue is added in temporary duty.
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 three core constant speed articulated robot control systems of underloading, which is characterized in that the articulated robot uses rare earth forever
Magnetic brushless DC servomotor X drives robot's arm rotary motion, using rare earth permanent magnet brushless DC servo motor Y driving machines
The rotary motion of device people's forearm drives robot wrist's rotary motion using rare earth permanent magnet brushless DC servo motor Z, using rare earth
DC permanent-magnetic brushless servo motor R drives robot wrist's elevating movement, and avoidance displacement biography is equipped on the robot's arm
Sensor S1, avoidance displacement sensor S2 and acceleration transducer A1 are equipped with avoidance displacement sensor on the robot forearm
S3, avoidance displacement sensor S4 and acceleration transducer A2 are equipped with alignment sensor S5 and acceleration on the robot wrist
Sensors A 3 is spent, the control system includes main website control computer and controller, and the controller includes dsp chip control
Device, PlC controllers and ARM controller, the dsp chip controller are communicated to connect with the main website control computer, the DSP
Chip controller and ARM controller communicate to connect, and the PlC controllers are communicated to connect with ARM controller, the rare earth permanent magnet without
Brush DC servo motor X, rare earth permanent magnet brushless DC servo motor Y, rare earth permanent magnet brushless DC servo motor Z and rare earth permanent magnet
Brushless DC servomotor 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
Sensors A 2 and acceleration transducer A3 are communicated to connect with the dsp chip controller and ARM controller simultaneously, the rare earth
DC permanent-magnetic brushless servo motor X, rare earth permanent magnet brushless DC servo motor Y, rare earth permanent magnet brushless DC servo motor Z and dilute
It is even on native DC permanent-magnetic brushless servo motor R to be provided with photoelectric encoder, the photoelectric encoder and the dsp chip controller
It is electrically connected, magnetoelectric transducer EM1 is installed on the robot's arm, magnetoelectric transducer is installed on the robot forearm
EM2, is equipped with magnetoelectric transducer EM3 and EM4 on the robot wrist, the magnetoelectric transducer EM1, magnetoelectric transducer EM2,
Magnetoelectric transducer EM3 and EM4 are communicated to connect with the dsp chip controller and ARM controller.
2. three core constant speed articulated robot control systems of underloading according to claim 1, which is characterized in that further include for institute
It states articulated robot and control system provides the main power source and stand-by power supply of power supply, each electricity in the articulated robot
Controller in machine and sensor and control system is electrically connected with the main power source and/or stand-by power supply.
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|---|---|---|---|---|
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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|---|---|---|---|---|
| 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 |
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