CN106003062A - Light-load and four-kernel fast joint robot control system - Google Patents

Abstract

The invention discloses a light-load and four-kernel fast joint robot control system which comprises a master station control computer and a controller. The controller comprises a DSP chip controller, an integrated chip processor, a PLC and an ARM controller. The DSP chip controller and the ARM controller are in communication connection with the master station control computer. The DSP chip controller is in communication connection with the ARM controller. Four rare earth permanent magnetic brushless direct-current servo motors are in communication connection with the DSP chip controller. Multiple obstacle avoidance displacement sensors, positioning sensors S5, acceleration sensors A1, acceleration sensors A2 and acceleration sensors A3 are in communication connection with the DSP chip controller and the ARM controller. By means of the light-load and four-kernel fast joint robot control system, the computing speed is high, arm steering of a joint robot is flexible, actions are stable and accurate, the size is small, the performance is stable, and the anti-interference capability of the system is high.

Description

A kind of underloading four core quick articulated robot control system

Technical field

The present invention relates to a kind of underloading four core quick articulated robot control system, belong to four joint machines of assembling work Device human arm application.

Background technology

In the industrial production, industrial robot can substitute for the mankind do that some are more dull, the most frequently and repetitive rate relatively High long working, or the operation under danger, adverse circumstances, be typically used as moving to take part and assembly work, at micro-electricity The fields such as sub-manufacturing industry, plastics industry, auto industry, electronics industry, pharmaceutical industries and food industry obtain widely should With, it is for improving production automation level, labor productivity and economic benefit, guarantee product quality, guaranteeing personal safety, change Kind work situation, reduces labor intensity, save material consumption and reduce production cost etc. and have highly important meaning.

The SCARA industrial robot i.e. robot arm of assembling work is the industrial robot of a kind of circular cylindrical coordinate type, it Rely on rotary joint large arm and forearm to realize the quick location in X-Y plane, rely on a wrist linear joint and a hands Wrist rotary joint does flexible and rotary motion in z-direction, and it has four freedoms of motion, and the manipulator of this series moves at it The four direction making space has finite stiffness, and has infinitely great rigidity on remaining other two direction.This structure Characteristic makes SCARA robot be good at and captures object from a bit, is the most quickly placed to another point, therefore SCARA robot Production line for automatically assembling is widely used.SCARA robot architecture is compact, flexible movements, and speed is fast, position is smart Degree height, its use substantially increases the robot adaptability to Complex Assembly task, also reduces cost simultaneously, improve work Make space availability ratio.

SCARA robot to judge the location parameter that master controller inputs during transporting goods the moment, and judges week The environment moment avoidance enclosed, then by motion controller repetitive control, it accelerates accurately and deceleration is transported goods, somewhat Deviation accumulation be possible to many bouts move in cause transporting unsuccessfully.Although the domestic use to SCARA robot has several 10 years, but owing to domestic industry robot development starting ratio is later, affected by more key technology, SCARA robot Development is also affected by institute, and traditional robot principle is as it is shown in figure 1, there is great number of issues during life-time service:

(1) when SCARA robot carries out zero position playback, or when robot resets, the mode of artificial range estimation is relied on, The zero position making robot sets wrong.

(2) although permanent-magnet DC servo motor relatively direct current generator, motor function increase, but common permanent magnetism is straight Flow servo motor is for there being brush configuration, because there is collector ring carbon brush structure, produces spark when motor runs, particularly when high speed Serious ring fire will be produced, produce radio interference, be not suitable for high speed rotating, be not suitable for applying to the SCARA machine of run with load Device people.

(3) permanent-magnet DC servo motor is for there being brush configuration, directly contacts and high speed relative motion between collector ring and carbon brush, This frame for movement makes mechanical friction, produces bigger mechanical noise so that the sound pollution of SCARA robot increases Greatly.

(4) permanent-magnet DC servo motor is for there being brush configuration, needs to regularly replace carbon brush, and motor can only use open-type protective Form, and brushed DC electric efficiency is low, is not suitable for applying to the SCARA robot of run with load.

(5) in SCARA robot multiple-axis servo control system, control system based on single-chip microcomputer or DSP all needs Servo control software to be write so that system development cycle is longer, and greatly reduce the arithmetic speed of system, and program Transplantation ability is poor.

Summary of the invention

The technical problem that present invention mainly solves is to provide a kind of underloading four core quick articulated robot control system, and this is light Carrying four core quick articulated robot control system, to calculate speed fast, make articulated robot arm turn to flexibly, having stable behavior is accurate, Compact, stable performance, noise is low, facilitates robot to insert interim action, and system development cycle is short, program transportability ability By force.

For solving above-mentioned technical problem, the technical solution used in the present invention is: provide a kind of underloading four core quick joint machine Device people's control system, described articulated robot uses rare earth permanent magnet brushless DC servomotor X driven machine people's large arm to rotate fortune Move, use rare earth permanent magnet brushless DC servomotor Y driven machine people's forearm rotary motion, use rare earth permanent magnet brushless DC to watch Take motor Z driven machine human wrist rotary motion, use the lifting of rare earth permanent magnet brushless DC servomotor R driven machine human wrist Motion, described robot's arm is provided with avoidance displacement transducer S1, avoidance displacement transducer S2 and acceleration transducer A1, Avoidance displacement transducer S3, avoidance displacement transducer S4 and acceleration transducer A2 are installed on described robot forearm, described Being provided with alignment sensor S5 and acceleration transducer A3 on robot wrist, described control system includes that main website controls to calculate Machine and controller, described controller includes dsp chip controller, integrated chip processor, PlC controller and ARM controller, institute State dsp chip controller, PlC controller and integrated chip processor all with described main website control compunication be connected, described Dsp chip controller, integrated chip processor and ARM controller are communicatively connected to each other, described PlC controller and ARM controller Communication connection, described rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare-earth permanent magnet brushless DC servo motor Z and rare earth permanent magnet brushless DC servomotor R all with described dsp chip controller communicate to connect, described in keep away Barrier displacement transducer S1, avoidance displacement transducer S2, avoidance displacement transducer S3, avoidance displacement transducer S4, alignment sensor S5, acceleration transducer A1, acceleration transducer A2 and acceleration transducer A3 all simultaneously with described dsp chip controller and ARM controller communicates to connect.

In a preferred embodiment of the present invention, also include the master that power supply is provided for described articulated robot and control system Controller in power supply and stand-by power supply, each described motor in described articulated robot and sensor and control system is equal It is electrically connected with described main power source and/or stand-by power supply.

In a preferred embodiment of the present invention, described rare earth permanent magnet brushless DC servomotor X, rare-earth permanent magnet brushless are straight Even on flow servo motor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servomotor R it is provided with light Photoelectric coder, described photoelectric encoder is electrically connected with described dsp chip controller.

In a preferred embodiment of the present invention, described robot's arm is provided with magnetoelectric transducer EM1, described machine Magnetoelectric transducer EM2 is installed on people's forearm, described robot wrist is provided with magnetoelectric transducer EM3 and EM4, described magnetoelectricity Sensor EM1, magnetoelectric transducer EM2, magnetoelectric transducer EM3 and EM4 all lead to described dsp chip controller and ARM controller Letter connects.

The invention has the beneficial effects as follows: it is fast that the underloading four core quick articulated robot control system of the present invention calculates speed, Make articulated robot arm turn to flexibly, having stable behavior is accurate, compact, stable performance, and system rejection to disturbance ability is strong, noise Low, facilitate robot to insert interim action, system development cycle is short, and program transportability ability is strong.

Accompanying drawing explanation

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings Accompanying drawing, wherein:

Fig. 1 is tradition SCARA robot controller schematic diagram；

Fig. 2 is based on four axle rare earth permanent magnet brushless DC servomotor SCARA robot two-dimensional structure figures；

Fig. 3 is dsp controller and integrated chip processor connection diagram；

Fig. 4 is based on four core four axle rare earth permanent magnet brushless DC servomotor SCARA robot controller schematic diagrams；

Fig. 5 is based on four core four axle rare earth permanent magnet brushless DC servomotor SCARA robot program's block diagrams；

Fig. 6 is based on four core four axle rare earth permanent magnet brushless DC servomotor motion principle figures；

Fig. 7 is four spindle motor acceleration and deceleration curves figures；

Fig. 8 is the underloading four core quick articulated robot Control system architecture schematic diagram of the present invention.

In accompanying drawing, the labelling of each parts is as follows: 1, main website controls computer, 2, controller, 3, dsp chip controller, 4, ARM controller, 5, main power source, 6, stand-by power supply, 7, rare earth permanent magnet brushless DC servomotor X, 8, rare earth permanent magnet brushless DC Servomotor Y, 9, rare earth permanent magnet brushless DC servomotor Z, 10, rare earth permanent magnet brushless DC servomotor R, 11, photoelectricity compiles Code device, 12, avoidance displacement transducer S1,13, avoidance displacement transducer S2,14, avoidance displacement transducer S3,15, avoidance displacement Sensor S4,16, alignment sensor S5,17, acceleration transducer A1,18, acceleration transducer A2,19, acceleration transducer A3,20, PLC, 21, magnetoelectric transducer EM1,22, magnetoelectric transducer EM2,23, magnetoelectric transducer EM3,24, magnetoelectricity passes Sensor EM4,25, integrated chip processor.

Detailed description of the invention

Technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement Example is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this area is common All other embodiments that technical staff is obtained under not making creative work premise, broadly fall into the model of present invention protection Enclose.

Referring to Fig. 2 to Fig. 8, the embodiment of the present invention includes: a kind of underloading four core quick articulated robot control system, should Machine artificially SCARA robots based on four axle rare earth permanent magnet brushless DC servomotors, the most described articulated robot uses dilute Soil DC permanent-magnetic brushless servomotor X7 driven machine people's large arm rotary motion, employing rare earth permanent magnet brushless DC servomotor Y8 Driven machine people's forearm rotary motion, use rare earth permanent magnet brushless DC servomotor Z9 driven machine human wrist rotary motion, Use rare earth permanent magnet brushless DC servomotor R10 driven machine human wrist elevating movement, described robot's arm is provided with Avoidance displacement transducer S1 12, avoidance displacement transducer S2 13 and acceleration transducer A1 17, described robot forearm is pacified Equipped with avoidance displacement transducer S3 14, avoidance displacement transducer S4 15 and acceleration transducer A2 18, described robot wrist On alignment sensor S5 16 and acceleration transducer A3 19 is installed.

Described control system includes that main website controls computer 1 and controller 2, and described controller 2 includes dsp chip control Device 3, integrated chip processor 25, PlC controller 20 and ARM controller 4, described dsp chip controller 3, PlC controller 20 and Integrated chip processor 25 all controls computer 1 with described main website and communicates to connect, at described dsp chip controller 3, integrated chip Reason device 25 and ARM controller 4 are communicatively connected to each other, and described PlC controller 20 communicates to connect with ARM controller 4.Described rare earth is forever Magnetic brushless DC servomotor X7, rare earth permanent magnet brushless DC servomotor Y8, rare earth permanent magnet brushless DC servomotor Z9 and Rare earth permanent magnet brushless DC servomotor R10 all communicates to connect with described dsp chip controller 3, described avoidance displacement transducer S1 12, avoidance displacement transducer S2 13, avoidance displacement transducer S3 14, avoidance displacement transducer S4 15, alignment sensor S5 16, acceleration transducer A1 17, acceleration transducer A2 18 and acceleration transducer A3 19 all simultaneously with described DSP core Sheet controller 3, integrated chip processor 25, PLC 20 and ARM controller 4 communicate to connect.

Preferably, the underloading four core quick articulated robot control system of the present invention also include for described articulated robot and Control system provides the main power source 5 of power supply and stand-by power supply 6, each described motor in described articulated robot and sensor with And the controller 2 in control system is all electrically connected with described main power source 5 and/or stand-by power supply 6.

Preferably, described rare earth permanent magnet brushless DC servomotor X 7, rare earth permanent magnet brushless DC servomotor Y 8, dilute Even it is provided with photoelectric encoder 11 on soil DC permanent-magnetic brushless servomotor Z 9 and rare earth permanent magnet brushless DC servomotor R10, Described photoelectric encoder 11 is electrically connected with described dsp chip controller 3.

Preferably, described robot's arm is provided with magnetoelectric transducer EM1 21, described robot forearm is provided with Magnetoelectric transducer EM2 22, described robot wrist is provided with magnetoelectric transducer EM3 23 and EM4 24, described magnetic-electric sensing Device EM1 21, magnetoelectric transducer EM2 22, magnetoelectric transducer EM3 23 and EM4 24 all with described dsp chip controller 3 and ARM Controller 4 communicates to connect.These magnetoelectric transducers read respective zero position mark respectively, when four all detect signal Time, SCARA robot realizes accurately resetting, improves the degree of accuracy of reset.

The present invention uses dsp controller (TMS320F2812)+integrated chip processor (i.e. LM628 chip, a kind of U.S. The large scale integrated chip (LSI chip) that National Semiconductor produces)+PLC 20+ ARM controller (STM32F746) four core carries out System controls.Controller principle figure such as Fig. 4 of the present invention: panel is with DSP(TMS320F28335) and LM628 as processor core The heart, ARM (STM32F746) realizes goods carrying from any to the additionally large arm of a bit, forearm, the wrist anglec of rotation and wrist The calculating of rise, and the interruption artificially transported goods by PLC real-time response master station, and and DSP (TMS320F28335) communication, DSP(TMS320F28335) free in the middle of complicated work, DSP (TMS320F28335) coordinate LM628 to realize the real-time control of four axle rare earth permanent magnet brushless DC servomotors, and respond in ARM Disconnected, it is achieved data communication and storage live signal.

The rare earth permanent magnet brushless DC that native system efficiency is high, power density is high, rotary inertia is less, detent torque is big is watched Take motor and instead of motor and common DC motor；In order to improve arithmetic speed, it is ensured that stablizing of SCARA robot system Property and reliability, the present invention introduce in controller based on DSP precise flange device LM628, embedded controller ARM, Programmable logic controller (PLC) PLC and multiple sensors, form brand-new four nuclear control devices based on DSP+LM628+ARM+PLC, this Controller takes into full account the power supply effect in this system, and the use of dual power supply ensure that the supply of the energy；Four core systems are work Four axle rare earth permanent magnet brushless DC servo control systems of work amount maximum give LM628 process, give full play to LM628 conduct The effect of motor servo control processor, and DSP is given in position reading, path planning, information storage, Power Supply Monitoring and switching etc. Process, master station by PLC in real time to ARM input position data, large arm based on Denavit-Hartenberg algorithm, forearm and The functions such as the wrist anglec of rotation and the calculating of wrist lifting height, data storage are given ARM and are completed, and give full play at ARM data The reason comparatively faster feature of speed, thus achieves the division of labor of ARM, DSP, LM628 and PLC, simultaneously ARM by RS485 with PLC communication, carries out data exchange with main website and calls.

Under power-on state, ARM controller is first to robot stand-by power supply SOC(state-of-charge) and main power source carry out Judging, if stand-by power source is relatively low, controller will send alarm signal by PLC to master station；If stand-by power supply and main electricity Source is working properly, is first passed through PLC transporting goods large arm, forearm and the wrist anglec of rotation and adjustable height by master station Or each coordinate information copying goods mechanically inputs to ARM, then calculated the parameter of robot servo's system by ARM； Zero position sensor EM1, EM2, EM3 and EM4 that SCARA robot carries start working, and make robot reset to set zero-bit Putting, robot enters self-locking state；After once carrying command starts, avoidance sensor that robot carries, alignment sensor and Acceleration transducer is all opened, and SCARA robot is according to setting the transport path fast removal that ARM optimizes, DSP Yu LM628 leads to News, LM628 according to servo parameter and sensor feedback adjust in real time SCARA robot rare earth permanent magnet brushless DC servomotor X, Rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servomotor The PWM output of R, it is achieved the real-time servo of four rare earth permanent magnet brushless DC servomotors controls, DSP Real-time Collection robot fortune Dynamic information also stores cargo location information；If ARM has a question to carrying some position, will pass through with DSP communication, DSP LM628 makes SCARA robot stop, and then manually judges DSP storage information, confirms that errorless rear master station is controlled by PLC Device secondary processed manually starts the task that SCARA robot continues to be not fully complete.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, Fig. 5, Fig. 6, Fig. 7, its concrete functional realiey is as follows:

1), after SCARA robot power supply is opened, stand-by power supply SOC and main power source can be judged by ARM, if stand-by power supply When SOC is relatively low, DSP will forbid controlling the LM628 work of four rare earth permanent magnet brushless DC servomotors, motor input PWM ripple Control signal is blocked, and work to master station and is sent alarm signal by PLC by alarm sensor simultaneously；If battery SOC is normal, and SCARA robot enters and treats duty, waits work order.

2) once master station's work order starts, and PLC starts and ARM communication, and PLC is large arm, forearm lengths and liter The information such as the length of fall bar are passed to ARM controller by RS484, and then robot starts correcting zero position, SCARA robot Magnetoelectric transducer EM1, EM2, EM3 and EM4 of carrying start working, and each find the zero position mark of setting, when magnetoelectricity passes When sensor EM1, EM2, EM3 and EM4 all have signal to export, DSP blocks four road rare earth permanent magnet brushless DC servo electricity by LM628 The PWM wave control signal of machine, SCARA robot guides zero position to reset automatically, now ARM controller sets each rotation Gyration, wrist lifting height。

3) in order to meet the acceleration and deceleration motion needs of SCARA robot, the present invention uses the movement time such as Fig. 7 trapezoidal Figure, the area that this ladder diagram comprises is exactly robot's arm, forearm and wrist angle to be rotated or the height of wrist lifting Degree, controls for convenience, and the present invention uses single acceleration model.

4) SCARA robot reads its mode of operation if manual working pattern, and main website begins through PLC Yu ARM control Device communication processed, is needed the angle rotated by main website input SCARA robot's arm, forearm and wrist,,And SCARA Robot wrist needs the height rising or decliningTo ARM controller, ARM controller is according to Denavit- Hartenberg algorithm starts robot location and attitude forward solves: ARM controller first according to SCARA robot's arm, Forearm and wrist need the angle rotated,,And SCARA robot wrist needs the height of risingCalculate adjacent Position auto-control between two member coordinates,,,, and with each personal 4*4 two-dimensional array mark,,,,It is expressed as follows respectively:

,,

,。

Then ARM controller passes through formulaJust can obtain wrist executor and complete task After position and attitude, and with DSP communication, transmission be manually entered parameter to DSP.

5) SCARA robot read work pattern is if normal automatic transporting mode of operation, and main website begins through PLC With ARM controller communication, the initial position residing for input SCARA robot of main website and given position three-dimensional coordinate control to ARM Device processed, it is Converse solved that ARM controller starts robot according to Denavit-Hartenberg algorithm: ARM controller first basis X and Y coordinates in large arm, forearm lengths and final three-dimensional coordinate obtain the angle that large arm needs to rotate, and by Value obtainValue, and according to the Z coordinate in three-dimensional coordinate obtain wrist rise or reduce height, finally obtain rotation Angle, owing to solvingWhen equation have bilingual, so SCARA robot obtains large arm, forearm and wrist needs The angle rotated,,And SCARA robot wrist needs the height of risingAfter, ARM controller can be to solving result It is optimized, then ARM controller and DSP communication, most has servo motion parameter to be transferred to dsp controller in robot.

6) dsp controller accepts the angle that SCARA robot's arm, forearm and wrist need to rotate,,And SCARA robot wrist needs the height risenAfter, the sensor S1 in large arm, forearm and wrist ~ S5, EM1, EM2 and EM3 To open, first SCARA robot wants zero setting position to judge, after confirming that initial position is errorless, SCARA robot is to each Barrier in the turning arm anglec of rotation judges, will send interrupt requests to DSP as there is barrier, and DSP can be to interruption Doing very first time response, then DSP forbids four axle LM628 work, and four axle rare earth permanent magnet brushless DC servomotor PWM ripples control Signal is blocked, and SCARA robot forbids rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z and motor rare earth permanent magnet brushless DC servomotor R work, robot is self-locking in former Ground, dsp controller secondary judges the obstacle information in range of movement, prevents information from judging by accident.

7) if dsp controller determines that clear enters moving region, dsp controller is bent according to the Velocity Time of Fig. 7 Movement position is decomposed by line, and DSP is first three anglecs of rotation,,It is converted into three rare earth permanent magnet brushless DCs The acceleration of servomotor, speed and position initial order value, then DSP Yu LM628 communication, LM628 combines motor X, motor Y Feed back with the photoelectric encoder of motor Z, through LM628 internal servo regulation Program Generating motor X, motor Y and the PWM ripple of motor Z Control signal, PWM wave control signal amplifies each motor movement of rear drive through drive axle.Dsp controller is big according to input deviation The pid parameter of the internal SERVO CONTROL program of little real-time adjustment LM628, LM628 controller is by adjusting rare earth permanent magnet brushless DC The number of drive pulses of servomotor adjusts its anglec of rotation, by adjusting rare earth permanent magnet brushless DC Serve Motor Control signal Frequency realize the change of angular velocity speed, make three axle rare earth permanent magnet brushless DC servomotor timing synchronization work, DSP moment The location parameter that recorder people has moved.

8) in SCARA robot moving process, the moving obstacle in range of movement is carried out by sensor S1 ~ S4 moment Judging, if there being barrier to enter range of movement, DSP makes the large arm of SCARA robot, forearm and wrist by LM628 immediately Stopping immediately according to the retarded motion curve of Fig. 7, dsp controller records present rotation angel degree,,Information.On obstacle After thing disappears, recalculate the anglec of rotation to new position,,, then DSP controls the LM628 curve movement according to Fig. 7 Again through three sections of movement locus: accelerated motion, uniform motion and retarded motion, set point is eventually arrived at.

9) in moving process, the DSP moment records the angle acceleration that the large arm of accelerometer feedback, forearm and wrist rotate Degree, controller obtains the anglec of rotation of large arm, forearm and wrist by quadratic integral, and compared with the position angle angle value set Relatively, if deviation is more than setting threshold values, it is new that DSP is converted into three rare earth permanent magnet brushless DC servomotors this deviation Acceleration, speed and position initial order value, in the next sampling period, DSP Yu LM628 communication, LM628 combines motor X, electricity Machine Y and the feedback of motor Z motor photoelectric encoder feedback, through LM628 internal servo regulation Program Generating motor X, motor Y and electricity The PWM wave control signal of machine Z, PWM wave control signal amplifies each motor movement of rear drive through drive axle.Dsp controller according to Input deviation size adjusts the pid parameter of the internal SERVO CONTROL program of LM628 in real time, and LM628 controller is by adjusting rare earth forever The number of drive pulses of magnetic brushless DC servomotor adjusts its anglec of rotation, by adjusting rare earth permanent magnet brushless DC servo electricity The frequency of machine control signal realizes the change of angular velocity speed, and then eliminates the error that a sampling period produces, and makes SCARA Robot completes task according to setting track.

10) in SCARA robot kinematics, DSP can store in the moment the SCARA robot location of process Or the reference point of process, and it is calculated relatively next reference point SCARA robot according to these range informations by DSP Rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z Angle, angle rates and angular acceleration to be run, LM628 combines motor X, motor Y and motor Z motor photoelectric encoder The feedback of feedback, through internal servo regulation Program Generating motor X, motor Y and the PWM wave control signal of motor Z, PWM ripple controls Signal amplifies each motor movement of rear drive through drive axle.Dsp controller adjusts inside LM628 in real time according to input deviation size The pid parameter of SERVO CONTROL program, adjusts its rotation by the number of drive pulses adjusting rare earth permanent magnet brushless DC servomotor Gyration, is realized the change of angular velocity speed, makes by the frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal SCARA robot quickly moves ahead according to setting speed.

11) the three axle anglecs of rotation are completed in SCARA robot,,SERVO CONTROL after, DSP secondary detection accelerate The integrated value of degree sensor, if it find that SCARA robot three anglecs of rotation after motor process is by external interference, ,When exceeding setting threshold values with the error of set angle, DSP is three anglec of rotation deviations,,It is converted into three The acceleration of rare earth permanent magnet brushless DC servomotor fine position, speed and position initial order value, then DSP and LM628 Communication, LM628 combines motor X, motor Y and the feedback of motor Z motor photoelectric encoder feedback, through LM628 internal servo regulation The PWM wave control signal of Program Generating motor X, motor Y and motor Z, PWM wave control signal through drive axle amplify rear drive each Motor movement.Dsp controller adjusts the pid parameter of the internal SERVO CONTROL program of LM628 in real time according to input deviation size, LM628 controller adjusts its anglec of rotation by the number of drive pulses adjusting rare earth permanent magnet brushless DC servomotor, passes through The frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal realizes the change of angular velocity speed, by three axle rare earths forever The task again of magnetic brushless DC servomotor makes robot's arm, forearm and wrist arrive setting position.

12) angle is completed when large arm, forearm and the wrist of SCARA robot,,Angle compensation arrive set position Postponing, the sensor EM4 in wrist will be again turned on, and first SCARA robot wants zero setting position to judge, confirm initial bit Put errorless after, DSP is according to the speed time curve of Fig. 7, distance to be lifted for wristIt is converted into rare earth permanent magnet brushless DC The acceleration of servomotor R, speed and position initial order value, then DSP Yu LM628 communication, LM628 combines motor R photoelectricity The feedback of encoder, through the PWM wave control signal of internal servo regulation Program Generating motor R, PWM wave control signal is through drive axle Amplify each motor movement of rear drive.Dsp controller adjusts the internal SERVO CONTROL program of LM628 in real time according to input deviation size Pid parameter, dsp controller by adjust rare earth permanent magnet brushless DC servomotor number of drive pulses adjust its anglec of rotation Degree, is realized the change of angular velocity speed, makes wrist by the frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal Within the setting time, steadily arrive setting position.

13) if SCARA robot finds that location parameter solves and occurs that endless loop will be in ARM sends in motor process Disconnected request, ARM can to interrupting doing very first time response, ARM controller will immediately with DSP communication, DSP is sealed by LM628 immediately The control signal of four rare earth permanent magnet brushless DC servomotors of lock, robot original place self-locking, then by main website according to storing letter Breath is analyzed, and after analysis, main website inputs new operating position information by PLC to ARM controller.

14) in SCARA robot motor process the most repeatedly, if main website is found to have interim vital task addition work In queue, PLC will be opened by main website, main website inputted to ARM by RS485 by PLC and ARM communication, PLC The position servo parameter of vital task, ARM Yu DSP communication, first controlled LM628 by DSP and complete currently outstanding task, with Time ARM update DSP original servo control parameter queue, and transmit new servo position parameter to DSP, make DSP control LM628 completes to insert the important temporary duty in queue.

15) in SCARA robot motor process the most repeatedly, if when magnetoelectric transducer EM1, EM2, EM3 and EM4 read During to transducing signal, dsp controller will replace existing location parameter to carry out new position servo control with zero position parameter, and Calculating error, in the next sampling period, DSP is by the internal three closed loop rare earth permanent magnet brushless DC servomotor controls of LM628 Processing procedure ordered pair error compensates, and eliminates cumulative errors in time.

16) be contained in rare earth permanent magnet brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet without Photoelectric encoder on brush DC servo motor Z, rare earth permanent magnet brushless DC servomotor R can export its position signalling A and position Confidence B, position signalling A pulse and the B pulsed logic state of photoelectric encoder often change once, and the position in DSP and ARM is posted Storage can add 1 according to the traffic direction of motor or subtract 1；The position signalling A pulse of photoelectric encoder and B pulse and Z pulse When being low level simultaneously, just produce an INDEX signal and watch to DSP and ARM internal register, record rare earth permanent magnet brushless DC Take the absolute position of motor, be then convert into SCARA robot's arm, forearm or the wrist tool in three-dimensional coordinate system Body position, ARM controller by PLC and main website communication, is transferred to main website important location parameter in real time.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) AC ac main power is monitored by SCARA robot in the running ARM controller moment, if controlled Device find main power source break down unexpected power-off time, ARM with DSP communication, and can open stand-by power supply, stand-by power supply be four axles Rare earth permanent magnet brushless DC servomotor provides energy, and DSP adjusts four rare earths in real time by LM628 internal servo regulation program The PWM output of DC permanent-magnetic brushless servomotor, LM628 controller is by adjusting driving of rare earth permanent magnet brushless DC servomotor Moving pulse number adjusts its anglec of rotation, realizes angle by the frequency adjusting rare earth permanent magnet brushless DC Serve Motor Control signal The change of speed speed, makes SCARA robot complete specifically and carries task, and then SCARA robot is carried out with main website by PLC Communication, and notify that main website overhauls.

18) in SCARA robot Multi-asis servo system work process, if DSP servo controller detects some There is pulsation in the torque of rare earth permanent magnet brushless DC servomotor, the rare earth permanent magnet brushless DC servo electricity used due to the present invention Machine power square is in direct ratio with current of electric, and therefore controller can be easy to compensate this interference, and adjusts in real time according to interference size DSP Pid parameter within whole LM628, decreases the motor torque disturbance impact on SCARA robot kinematics.

19) task is completed when SCARA robot, it is achieved during the zero of position, acceleration transducer A1 ~ A3 that it carries, magnetic Electric transducer EM1, EM2, EM3 and EM4 can work in the moment, first have acceleration transducer to detect its acceleration, when acceleration exceedes During pre-set threshold value, can be revised, at next cycle dsp controller, the error that a cycle brings by LM628, when magnetoelectricity passes When sensor EM1, EM2, EM3, EM4 all have signal to export, DSP blocks four road rare earth permanent magnet brushless DC servo electricity by LM628 The PWM wave control signal of machine, SCARA robot guides zero position to reset automatically, SCARA robot according to Fig. 7 speed- Time curve movement realizes the playback from certain point to zero-bit, then zero-bit self-locking, waits next group work order.

The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology neck Territory, is the most in like manner included in the scope of patent protection of the present invention.

Claims (4)

1. a underloading four core quick articulated robot control system, it is characterised in that described articulated robot uses rare earth forever Magnetic brushless DC servomotor X driven machine people's large arm rotary motion, employing rare earth permanent magnet brushless DC servomotor Y drive machine Device people's forearm rotary motion, employing rare earth permanent magnet brushless DC servomotor Z driven machine human wrist rotary motion, employing rare earth DC permanent-magnetic brushless servomotor R driven machine human wrist elevating movement, described robot's arm is provided with avoidance displacement and passes Sensor S1, avoidance displacement transducer S2 and acceleration transducer A1, described robot forearm is provided with avoidance displacement transducer S3, avoidance displacement transducer S4 and acceleration transducer A2, described robot wrist is provided with alignment sensor S5 and acceleration Degree sensors A 3, described control system includes that main website controls computer and controller, and described controller includes dsp chip control Device, integrated chip processor, PlC controller and ARM controller, described dsp chip controller, PlC controller and integrated chip Processor all controls compunication with described main website and is connected, described dsp chip controller, integrated chip processor and ARM control Device processed is communicatively connected to each other, and described PlC controller communicates to connect with ARM controller, described rare earth permanent magnet brushless DC servo electricity Machine X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth permanent magnet brushless DC servo Motor R all communicates to connect with described dsp chip controller, described avoidance displacement transducer S1, avoidance displacement transducer S2, avoidance Displacement transducer S3, avoidance displacement transducer S4, alignment sensor S5, acceleration transducer A1, acceleration transducer A2 and add Velocity sensor A3 communicates to connect with described dsp chip controller and ARM controller all simultaneously.

Underloading four core the most according to claim 1 quick articulated robot control system, it is characterised in that also include for institute Articulated robot and the main power source of control system offer power supply and stand-by power supply, each the described electricity in described articulated robot are provided Controller in machine and sensor and control system is all electrically connected with described main power source and/or stand-by power supply.

Underloading four core the most according to claim 1 quick articulated robot control system, it is characterised in that described rare earth is forever Magnetic brushless DC servomotor X, rare earth permanent magnet brushless DC servomotor Y, rare earth permanent magnet brushless DC servomotor Z and rare earth The even photoelectric encoder that is provided with on DC permanent-magnetic brushless servomotor R, described photoelectric encoder and described dsp chip controller electricity Property connect.

4. according to the underloading four core quick articulated robot control system described in any one of claims 1 to 3, it is characterised in that Magnetoelectric transducer EM1 is installed on described robot's arm, described robot forearm is provided with magnetoelectric transducer EM2, described Magnetoelectric transducer EM3 and EM4, described magnetoelectric transducer EM1, magnetoelectric transducer EM2, magnetic-electric sensing are installed on robot wrist Device EM3 and EM4 all communicates to connect with described dsp chip controller and ARM controller.