CN111660299A

CN111660299A - Six-axis cooperative robot development platform based on rapid control prototype system

Info

Publication number: CN111660299A
Application number: CN202010580888.6A
Authority: CN
Inventors: 甄圣超; 刘晓黎; 何湘粤; 陈锋
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2020-09-15

Abstract

The invention relates to a six-axis cooperative robot development platform based on a rapid control prototype system, which comprises: the upper computer adopts a PC machine, and development software is loaded on the PC machine; the power supply supplies alternating current 220V power to a development system of the upper computer and supplies direct current 48V power to the rapid control prototype system; the rapid control prototype system is used for rapidly generating control codes and verifying algorithms, observing data, displaying real-time information of the robot and inputting control parameters; a six-axis cooperative robot employs a non-orthogonal cooperative robot having six rotational degrees of freedom. The invention can monitor and adjust the motion state of the robot on line in real time by the constructed closed loop system and the carried upper computer. The invention can realize the rapid generation and downloading of the novel control code through the cooperative work of the development software and the rapid control prototype system, thereby realizing the rapid development and verification of the control algorithm and greatly shortening the development time and the cost.

Description

Six-axis cooperative robot development platform based on rapid control prototype system

Technical Field

The invention relates to the technical field of robot development, in particular to a six-axis cooperative robot development platform based on a rapid control prototype system.

Background

Since the appearance of industrial robots in the 60 th 20 th century, robotics has been more and more widely applied to actual work production, such as machining, handling, welding, painting, assembling, inspection, etc., in which robots exhibit advantages of high efficiency, high precision, safety, etc. The industrial robot has high speed, high stability, high precision and large load, and can ensure and improve the quality of products. The universality is good, but the safety problem can not be ensured due to the large and heavy volume and the high-speed operation, so that the human can not cooperate with the operation.

Meanwhile, the traditional industrial robot cannot meet the requirements due to the characteristics of a large variety of products, small volume and high flexibility requirement on operators in emerging industries. With the rise of these fields and the need of the industry, a new type of human-machine cooperative robot is on the market, and can safely interact with human directly. The cooperative robot has the advantages of low price and convenient use, and has high safety for human needing to work together with the robot. They are highly adaptable and suitable for assisting in small-scale production. Today, the production cycle of enterprises is continuously shortened, and the introduction of cooperative robots is the most appropriate time. The co-operating robot can typically pick up 10 kg of an item and the body can be reduced to a size that can be placed on a work bench. They can perform the works of picking and placing goods, packing, pasting and welding.

However, the robot control system on the market is basically applied to industrial scenes, the control system mostly adopts the traditional embedded system development method at present, code programming is time-consuming and labor-consuming, the efficiency is low, and the system test occupies most time of the whole development period. The traditional development design generally carries out simulation research in MATLAB/Simulink software at first, carries out correctness verification on a control method, and changes an algorithm into a C language code to be realized on a control chip when a simulation result is satisfied so as to complete steps of programming, compiling, debugging and the like. Rewriting the simulation model into the control chip code written in the C language takes much time, and meanwhile, the simulation algorithm cannot be reproduced in the control chip due to the reasons that the algorithm code is manually written incorrectly, the register configuration of the control chip is incorrect, the data precision and the quantization error of the algorithm are different from those of MATLAB when the control chip is used for implementation, so that developers spend much effort on code modification and debugging, and the development speed is influenced. If the model of the mechanical arm of the operation object changes, the code needs to be rewritten, so that the development period of the product is shortened, the development efficiency is improved, and people pay more attention to the code.

Therefore, the robot development platform capable of quickly realizing control code generation and algorithm verification is designed to have practical significance aiming at the characteristics that the control codes of the existing six-axis cooperative robot are difficult to compile, the advanced algorithm is difficult to realize and the like.

Disclosure of Invention

The invention aims to provide a six-axis cooperative robot development platform based on a rapid control prototype system, which can improve the universality of a six-axis cooperative robot control system, shorten the development period of the robot control system and reduce the development cost of the control system.

In order to achieve the purpose, the invention adopts the following technical scheme: a six-axis collaborative robot development platform based on a rapid control prototype system, comprising:

the upper computer adopts a PC machine, and development software is loaded on the PC machine; the upper computer is used for observing and displaying real-time information of the six-axis cooperative robot, inputting a control instruction and online adjusting parameters;

the power supply supplies alternating current 220V power to a development system of the upper computer and supplies direct current 48V power to the rapid control prototype system;

the rapid control prototype system is an open control platform and is used for rapidly generating control codes and verifying algorithms, observing data, displaying real-time information of the robot and inputting control parameters;

the six-axis cooperative robot adopts a non-orthogonal cooperative robot with six rotational degrees of freedom;

the rapid control prototype system is communicated with an upper computer through an SCI serial port, a robot interface of the rapid control prototype system is connected with the six-axis cooperative robot, and a CANopen communication protocol is adopted between the six-axis cooperative robot and the rapid control prototype system.

The rapid control prototyping system comprises:

the power interface is used as an interface for inputting an external direct current 48V power supply and supplies power to the whole rapid control prototype system;

the emergency stop switch interface is used as an interface of a power supply switch of the robot, and the power supply is cut off in time through an external emergency stop switch when the robot is in a dangerous state of interference between joints or collision with surrounding objects and the like;

JTAG interface, as the interface that the external simulator couples to DSP control panel;

the power switch is used as the power switch of the whole rapid control prototype system, and when the rapid control prototype system does not need to work, a user cuts off the power supply of the whole rapid control prototype system through the power switch;

the power converter is used for distributing and converting power input from the power interface, wherein 48V direct-current power is provided for the robot through the CAN bus of the robot and the power line interface, and 5V direct-current power is converted to supply power to the DSP control panel and the brake resistance control panel;

the braking resistor is used for protecting the motor driver by a user and directly converting the regenerated electric energy in the rapid braking process of the motor into heat energy;

the brake resistor control board is used for detecting externally input power supply voltage;

the DSP control panel is used as a controller of the whole rapid control prototype system;

the robot interface integrates an interface of a double CAN bus and a robot power line;

a reset key for terminating and re-operating the program of the DSP control panel;

the extended I/O interface is used as an interface for debugging the user and providing secondary function development;

the nixie tube prompts a user to judge the running state of the robot according to the characters displayed by different digits;

the SCI serial port is used for connecting with an upper computer through an external USB serial port communication line;

pins P1 and P2 of the power interface are respectively connected with pins P1 and P2 of the power switch in a one-to-one correspondence manner, pins P3 and P4 of the power switch are respectively connected with pins P1 and P2 of the power converter in a one-to-one correspondence manner, pins P3 and P4 of the power converter are respectively connected with pins 5V +, 5V-of the DSP control board in a one-to-one correspondence manner, pins P3 and P4 of the brake resistor control board are respectively connected with pins P3 and P4 of the power switch in a one-to-one correspondence manner, pins 48V +, 48V-of the brake resistor are respectively connected with pins P1 and P2 of the brake resistor control board in a one-to-one manner, pins P3, P7, P1 and P1 of the robot interface are respectively connected with pins CANA-1-1-1-H of the DSP control board in a one-to-one-to-one manner, a pin P1 of the robot interface is connected with a pin, and a P1 pin of the emergency stop switch interface is connected with a P1 pin of the power interface, the DSP control board leads out a JTAG interface, an SCI serial port and an expansion IO interface, and is externally connected with a reset key and a nixie tube.

The cooperative robot consists of a base, a first large joint module, a second large joint module, a third large joint module, a first small joint module, a second small joint module, a third small joint module, an upper arm sleeve, a bent sleeve, a lower arm sleeve and a tail end flange;

the upper end of the base used for fixedly mounting the robot on the operation platform is provided with a first large joint module, the central axis of the first large joint module is coincided with the central axis of the base, the right end of the first large joint module is provided with a second large joint module, the central axis of the second large joint module is vertical to the central axis of the first large joint module, an upper arm sleeve is arranged above the second large joint module, the central axis of the second large joint module is vertical to the central axis of the upper arm sleeve, the upper end of the upper arm sleeve is provided with a third large joint module, the axis of the upper arm sleeve is vertical to the central axis of the third large joint module, the left end of the third large joint module is connected with the right end of a bent sleeve, the upper end of the bent sleeve is provided with a lower arm sleeve, the upper end of the lower arm sleeve is provided with a first small joint module, the central axis of the first small joint module is vertical to the central axis of the lower arm sleeve, a second facet joint module is installed at the right end of the first facet joint module, the axis of the second facet joint module is vertical to the central axis of the first facet joint module, a third facet joint module is installed at the upper end of the second facet joint module, the central axis of the third facet joint module is vertical to the central axis of the second facet joint module, and a tail end flange is installed at the right end of the third facet joint module; the first large joint module, the second large joint module, the third large joint module, the first small joint module, the second small joint module and the third small joint module are identical in structure, and the first large joint module, the second large joint module and the third large joint module are larger than the first small joint module, the second small joint module and the third small joint module in size.

The first large joint module comprises:

the servo driver adopts a high-performance DSP chip as a main processor to realize the control of a current loop, a speed loop and a position loop of the joint module;

the mechanical band-type brake adopts a bolt type mechanical band-type brake;

the frameless torque motor is used as a power source of the first large joint module;

the harmonic reducer is coaxial with the motor and is used for amplifying the torque of the motor;

the photoelectric encoder is used for measuring the angle and the speed of the frameless torque motor;

the absolute value encoder is used for calibrating the zero point of the output end of the harmonic reducer and detecting the rotation angle of the output end of the harmonic reducer relative to the zero point;

the output end of the frameless torque motor is connected with the input end of a mechanical band-type brake, the output end of the mechanical band-type brake is connected with the input end of a harmonic reducer, and the absolute value encoder is mounted on the output end of the harmonic reducer.

The DSP control board adopts a 28335 chip of TIC2000, and the brake resistance control board adopts an STM32F103C8T6 chip.

According to the technical scheme, the beneficial effects of the invention are as follows: firstly, the motion state of the robot can be monitored in real time and adjusted on line through the constructed closed-loop system and the carried upper computer; secondly, the invention can realize the rapid generation and downloading of the novel control code through the cooperative work of the development software and the rapid control prototype system, thereby realizing the rapid development and verification of the control algorithm, greatly shortening the development time and cost and helping researchers put more time on the development and research of the control algorithm; thirdly, the double-encoder scheme is adopted at each joint of the six-axis cooperative robot, so that the error of the speed reducer can be reduced to a great extent, and the high-precision control of the six-axis cooperative robot is facilitated; fourthly, the invention provides a motion control scheme for forward-inverse kinematics control and continuous trajectory control of a universal non-orthogonal six-axis cooperative robot, and the motion control scheme can quickly realize the motion control of the non-orthogonal six-axis cooperative robot.

Drawings

FIG. 1 is an overall block diagram of the present invention;

FIG. 2 is a diagram of the components and functional interfaces of the prototype rapid control system of the present invention;

FIG. 3 is a schematic structural diagram of a six-axis cooperative robot in the present invention

FIG. 4 is a structural assembly diagram of a first large joint module according to the present invention;

FIG. 5 is a flowchart of algorithm development and code generation according to the present invention

Fig. 6 is a flow chart of motion control of the six-axis cooperative robot in the present invention.

Detailed Description

As shown in fig. 1, a six-axis collaborative robot development platform based on a rapid control prototype system includes:

the upper computer adopts a PC machine, and development software is loaded on the PC machine; the upper computer is used for observing and displaying real-time information of the six-axis cooperative robot, inputting a control instruction and online adjusting parameters; the development software loaded on the PC consists of tool software such as MATLAB/Simulink and CCS embedded compiler, and the tool software can realize the function of automatically generating codes by combining and using, and can help people with poor programming foundation to complete the development of various control algorithms in a short time.

the rapid control prototype system is an open control platform and is used for rapidly generating control codes and verifying algorithms, communicating with an upper computer through an SCI (serial interface) 4, observing data, displaying real-time information of the robot and inputting control parameters; the user can carry out the deep research of the robot control algorithm according to the actual requirement, including kinematics forward and reverse solution, trajectory planning, robust control, self-adaptive control, fuzzy control and the like, thereby realizing the kinematics and dynamics control of the robot.

The rapid control prototype system is a stand-alone system based on a DSP28335 chip architecture, is used as an operation center of the whole robot system, is used as a real-time control system, is an embedded code directly generated in a control algorithm for developing software development, can run in the system, is equivalent to a motion controller of a six-axis cooperative robot, is used for receiving an operation instruction sent from a PC (personal computer) on one hand, and sends a control signal to the six-axis cooperative robot through a CANopen communication protocol after being processed by the system on the other hand, so that the motion of the six-axis cooperative robot is realized.

The six-axis cooperative robot adopts a non-orthogonal cooperative robot with six rotational degrees of freedom, the six-axis cooperative robot is connected with a robot interface 19 of a rapid control prototype system, and a CANopen communication protocol is adopted between the six-axis cooperative robot and the rapid control prototype system.

As shown in fig. 2, the rapid control prototype system includes:

a power interface 16, which is used as an interface for inputting an external direct current 48V power supply and supplies power to the whole rapid control prototype system;

the scram switch interface 17 is used as an interface of a power supply switch of the robot, and the power supply is cut off in time through an external scram switch when the robot is in a dangerous state of interference between joints or collision with surrounding objects and the like;

JTAG interface 2, as the interface that the external simulator couples to DSP control panel;

a power switch 18 as a power switch 18 of the entire rapid control prototype system, and when the rapid control prototype system does not need to work, a user cuts off the power of the entire rapid control prototype system through the power switch 18;

a power converter for distributing and converting the power input from the power interface 16, wherein 48V DC power is provided to the robot through the robot CAN bus and the power line interface, and 5V DC power is converted to supply power to the DSP control board and the brake resistance control board;

the brake resistor is characterized in that a large amount of regenerative electric energy can be generated due to the inertia effect of the motor in the rapid parking process, if the regenerative electric energy is not consumed in time, the regenerative electric energy can directly act on a direct current circuit part of the motor, and a motor driver can report a fault if the regenerative electric energy is light and can be damaged if the regenerative electric energy is heavy; the problem is well solved by the occurrence of the brake resistor, and the motor driver is protected from the damage of the regenerative electric energy of the motor; and secondly, the regenerative electric energy in the rapid braking process of the motor is directly converted into heat energy, so that the regenerative electric energy cannot be fed back to an external power supply of the rapid control prototype system, and the function of protecting the external power supply is achieved.

The brake resistor control board is used for detecting power supply voltage input from outside, when the detected voltage is higher than a set threshold value, the normal threshold value is 48V, and when the mechanical arm descends or decelerates quickly, the voltage can be increased, for example, 50V, so that the brake resistor is turned on to work, and when the voltage is lower than 50V, the brake resistor is turned off and does not work; the brake resistance control board adopts an STM32F103C8T6 chip;

the DSP control panel is used as a controller of the whole rapid control prototype system and is used for running a program of a control algorithm and processing related control instructions, and a user can complete communication and secondary function development of the control system through an interface led out by the DSP control panel; the DSP control board adopts a 28335 chip of TIC 2000;

the robot interface 19 integrates an interface of a double CAN bus and a robot power line, so that the advantage that an external robot CAN be connected with the rapid control prototype system only through one cable is achieved, power CAN be provided, and CANopen communication CAN be achieved; the double CAN buses CAN be used for realizing communication control with six joint modules of the six-axis cooperative robot, so that one-time control instruction sending and parameter reading are realized, the shortest communication time for controlling a single joint needs 0.5ms, and the shortest communication time for controlling 6 joints simultaneously needs 1.5 ms.

The reset key 1 is used for terminating and rerunning the program of the DSP control panel, and plays a reset function when the program is blocked or the function is lost;

the expansion I/O interface 20 is used as an interface for debugging and secondary function development provided by a user, for example, the user realizes the control of the clamping jaw at the tail end of the robot through the expansion interface;

the nixie tube 3 prompts a user to judge the running state of the robot according to the characters displayed by different digits; the user can judge different running states of the robot conveniently according to the characters displayed by different digits, and can find faults and modify programs in time during development;

the SCI serial port 4 is used for connecting with an upper computer through an external USB serial port communication line, realizing data interaction with the rapid control prototype system and displaying real-time information of the robot;

pins P1 and P2 of the power interface 16 are correspondingly connected with pins P1 and P2 of the power switch 18, pins P3 and P4 of the power switch 18 are correspondingly connected with pins P1 and P2 of the power converter, pins P3 and P4 of the power converter are correspondingly connected with pins 5V +, 5V-of the DSP control board, pins P3 and P4 of the braking resistance control board are correspondingly connected with pins P3 and P4 of the power switch 18, pins 48V + and 48V-of the braking resistance are correspondingly connected with pins P1 and P2 of the braking resistance control board, pins P3, P865 7, P1 and P5 of the robot interface 19 are correspondingly connected with pins CANA-L, CANA-H, CANB-L, CANB-H of the DSP control board, pins P2 of the robot interface 19 are correspondingly connected with pins P2 of the emergency stop switch interface 17, the P8 pin of the robot interface 19 is connected with the P2 pin of the power interface 16, the P1 pin of the emergency stop switch interface 17 is connected with the P1 pin of the power interface 16, the JTAG interface 2, the SCI serial port 4 and the expansion IO interface are led out from the DSP control board, and the DSP control board is externally connected with the reset key 1 and the nixie tube 3.

As shown in fig. 3, the cooperative robot is composed of a base 5, a first large joint module 6, a second large joint module 7, a third large joint module 10, a first small joint module 12, a second small joint module 13, a third small joint module 14, an upper arm sleeve 8, a bent sleeve 9, a lower arm sleeve 11 and an end flange 15,

the upper end of a base 5 for fixedly mounting the robot on the operation platform is provided with a first large joint module 6, the central axis of the first large joint module 6 is coincided with the central axis of the base 5, the right end of the first large joint module 6 is provided with a second large joint module 7, the central axis of the second large joint module 7 is vertical to the central axis of the first large joint module 6, an upper arm sleeve 8 is arranged above the second large joint module 7, the central axis of the second large joint module 7 is vertical to the central axis of the upper arm sleeve 8, the upper end of the upper arm sleeve 8 is provided with a third large joint module 10, the axial axis of the upper arm sleeve 8 is vertical to the central axis of the third large joint module 10, the left end of the third large joint module 10 is connected with the right end of a bent sleeve 9, the upper end of the bent sleeve 9 is provided with a lower arm sleeve 11, the upper end of the lower arm sleeve 11 is provided with a first small joint module 12, the central line axis of the first facet joint module 12 is vertical to the central axis of the lower arm sleeve 11, the right end of the first facet joint module 12 is provided with a second facet joint module 13, the axis of the second facet joint module 13 is vertical to the central axis of the first facet joint module 12, the upper end of the second facet joint module 13 is provided with a third facet joint module 14, the central axis of the third facet joint module 14 is vertical to the central axis of the second facet joint module 13, and the right end of the third facet joint module 14 is provided with a tail end flange 15; the first large joint module 6, the second large joint module 7, the third large joint module 10, the first small joint module 12, the second small joint module 13 and the third small joint module 14 are all integrated joint modules with the same structure, and the sizes of the first large joint module 6, the second large joint module 7 and the third large joint module 10 are larger than those of the first small joint module 12, the second small joint module 13 and the third small joint module 14.

The six-axis cooperative robot is a universal non-orthogonal cooperative robot with six rotational degrees of freedom, and has the advantages of simple structure, high modularization degree and extremely high weight-bearing-dead-weight ratio. The non-orthogonal six-degree-of-freedom cooperative robot is structurally different from most of existing 6-degree-of-freedom industrial robots in that the 2, 3 and 4 axes are always parallel, so that certain difference exists in kinematics solution. The large joint module 42A is used as an actuator of the

joints

1, 2 and 3 and is used for bearing large moment, the upper arm sleeve 8431 is used for connecting the joint 2 with the joint 3, the bent sleeve 9432 and the lower arm sleeve 11433 are used for ensuring the joint 4 and the joint 3 to be parallel, the small joint module 42B is used as an actuator of the

joints

4, 5 and 6 and is used for bearing small moment, the internal structure is the same as that of the large joint module 42A, the size is smaller than that of the large joint module 42A, and the end flange 1544 is used for installing an end actuator such as a clamping jaw to realize the grabbing action of the robot.

The first, second and third joint modules are respectively called as the first, second and third joints of the robot in a one-to-one correspondence manner and are used for bearing large torque; the first, second and third small joint modules are respectively called as the fourth, fifth and sixth joints of the robot in a one-to-one correspondence manner and are used for bearing small torque; the upper arm sleeve 8 is used for connecting the second joint with the third joint, and the bent sleeve 9 and the lower arm sleeve 11 are used for ensuring that the fourth joint and the third joint are parallel; the end flange 15 is used for mounting an end effector, such as a gripper, to perform a gripping action of the robot.

As shown in fig. 4, the first large joint module 6 includes:

the mechanical band-type brake adopts a bolt type mechanical band-type brake;

the frameless torque motor is used as a power source of the first large joint module 6;

The servo driver is a high-performance low-voltage, alternating-current, full-closed-loop and full-digital servo driver, a high-performance DSP chip is adopted as a main processor, the precise control of a current loop, a speed loop and a position loop of a joint module can be realized, the functions of undervoltage, overvoltage, overload, overcurrent, locked rotor, encoder alarm and the like are realized, the anti-interference capability is strong, and a CANopen communication protocol is adopted; the mechanical band-type brake adopts a bolt type mechanical band-type brake, has good heat dissipation performance and is automatically locked when power is off; the frameless torque motor has the characteristics of extremely small torque fluctuation, low rotational inertia, fast dynamic response, high precision, accurate positioning, strong output and the like, and can perform intermediate wiring by adopting a hollow large aperture; the harmonic reducer has the characteristics of high bearing capacity, large transmission ratio, small volume, light weight, high transmission efficiency, long service life and the like, and provides large torque for the output shaft of the joint module mainly through the reduction ratio between gears; the photoelectric encoder adopts an incremental encoder of 20000 lines to measure the angle and the speed of the frameless torque motor; the absolute value encoder is used for calibrating the zero point of the output end of the harmonic reducer and detecting the rotation angle of the output end relative to the zero point, and the position error caused by the gear fit clearance of the harmonic reducer can be effectively avoided through the double-encoder scheme, so that the high-precision control of each joint of the robot is realized.

When the robot works, the upper computer sends a command to the rapid control prototype system, the rapid control prototype system sends a control signal to a servo driver inside each integrated joint module of the six-axis cooperative robot through a CANopen communication protocol, the servo driver amplifies the control signal to control the operation of the frameless torque motor, and the motion of a joint output shaft is driven by the harmonic reducer, so that the overall motion of the six-axis cooperative robot is realized; photoelectric encoder detects frameless torque motor's real-time angle and speed, absolute value encoder detects the relative zero pivoted angle of harmonic reducer output, photoelectric encoder and absolute value encoder feed back the information that reads to servo driver, servo driver rethread CANopen communication protocol feeds back information to quick control prototype system, quick control prototype system passes through USB serial communication again with data upload to the host computer, realize visual display, finally form a closed loop flexible control system, the host computer can real-time supervision and adjust the running state of integration joint module according to the data of uploading, and then control six axis cooperation robot's motion.

As shown in fig. 5, when a user uses the system to develop a control algorithm, firstly, the system design standard is determined according to the requirements, and the theoretical derivation of the control algorithm is completed; secondly, model parameters and a simulation environment are set according to a Simulink platform of the system design requirement development software, a simulation model of a control algorithm is established, model simulation is carried out after configuration work is completed, and a simulation result is observed in real time in the simulation process. If the simulation result is deviated from the predicted result, the simulation model or parameter setting is completed in time and repeated correction is carried out until the simulation result is matched with the theoretical result. After simulation is completed, the Simulink model is combined with a hardware interface of a rapid control prototype system to complete integral modeling, then target environment setting is carried out, the simulation is connected with an embedded IDE compiler, system files and a hardware debugging environment are configured, the compiling model generates embedded codes and code execution files (.out), the execution files are downloaded into the rapid control prototype system, a program is operated, then a USB serial port communication line is used for connecting the rapid control prototype system with an upper computer through an SCI serial port 4, and the upper computer carries out online parameter adjustment through an actual control object and a data curve fed back by an observation control object.

As shown in fig. 6, firstly, the program initialization operation is completed according to hardware performance and software requirements, and the program initialization operation mainly includes a CANopen communication initialization function of six joint modules and macro definitions of variables required by CANopen communication, secondly, data sent by an upper computer are processed and received, summation and verification are completed through a fixed communication protocol, and after no error is verified, the data are output to a motion control response function.

And then the motion control judges and selects different control commands according to a communication protocol, wherein the different control commands mainly comprise a start/stop command, a forward decoding command, a reverse decoding command, a command for reaching an initial track point, a command for starting track motion and no command operation. The whole motion control process needs to send a starting control signal through the upper computer in advance, otherwise, other commands are sent to not take effect, after the starting control signal is sent, a motion control response function judges the type of the control signal according to a mechanical arm communication protocol and checks the type of the control signal, then the starting command is executed, at the moment, the contracting brake can be opened by six integrated joint modules of the robot, at the moment, the robot is started, then the program can jump to an idle instruction, and the next control signal of the upper computer is waited.

At the moment, after the robot is started, when the upper computer sends the angles of six joints of the robot again or the terminal pose, the motion control response function is also verified, a forward solution command or a reverse solution command is executed, the data input by the forward solution command is directly output without any processing, the reverse solution command carries out reverse solution calculation according to the input terminal pose to obtain the angle value of the joints, then the angles of the six joints are output, then a PTP control mode is skipped, the joint module firstly converts the joint angle into the pulse number according to a PA instruction, then the SP instruction is skipped to set the rotation speed of the joints, then the AC instruction is skipped to set the rotation acceleration of the joints, then the BG instruction is skipped to send the previous control instruction to a servo driver of the joint module at one time, and the servo driver machine drives a motor to rotate according to the pulse value so as to finally control the whole robot to rotate to the expected angle, finally jumping to a PX instruction, and finally uploading information fed back by the joint module to an upper computer according to a communication protocol;

when the robot needs to move according to a planned path, the upper computer is required to send a command to enable the motion control program to jump to an initial track point reaching command, then jump to a PTP control mode to control the robot to reach the starting point of a motion track planned by development software, then the upper computer sends a control command to enable the motion control program to jump to a track starting motion command, and executes a PVT control mode or a PT control mode according to whether the track is a joint space or Cartesian control, and reads a motor angle in real time in the moving process and uploads data to the upper computer.

When a user does not use the robot, the upper computer sends a stopping control signal, the motion control response function judges the type of the control signal according to the mechanical arm communication protocol and checks the type of the control signal, then a stopping command is executed, at the moment, the contracting brake can be closed by the six integrated joint modules of the robot, the robot stops working, and the robot can work after waiting for the next starting command.

In conclusion, the motion state of the robot can be monitored in real time and adjusted on line through the constructed closed-loop system and the carried upper computer; the invention can realize the rapid generation and downloading of the novel control code through the cooperative work of the development software and the rapid control prototype system, thereby realizing the rapid development and verification of the control algorithm, greatly shortening the development time and cost and helping researchers put more time on the development and research of the control algorithm.

Claims

1. A six-axis collaborative robot development platform based on a rapid control prototype system is characterized in that: the method comprises the following steps:

the rapid control prototype system is communicated with an upper computer through an SCI serial port (4), a robot interface (19) of the rapid control prototype system is connected with the six-axis cooperative robot, and a CANopen communication protocol is adopted between the six-axis cooperative robot and the rapid control prototype system.

2. The six-axis collaborative robot development platform based on rapid control prototyping system as recited in claim 1 wherein: the rapid control prototyping system comprises:

a power interface (16) which is used as an interface for inputting an external direct current 48V power supply and supplies power to the whole rapid control prototype system;

an emergency stop switch interface (17) as an interface of a robot power supply switch;

a JTAG interface (2) which is used as an interface for connecting the external emulator and the DSP control board;

a power switch (18) by which a user cuts off the power of the entire rapid control prototype system;

the power converter is used for distributing and converting power input from the power interface (16), wherein 48V direct current power is provided for the robot through a CAN bus of the robot and a power line interface, and 5V direct current power is converted to supply power for the DSP control panel and the brake resistance control panel;

a robot interface (19) integrating the interfaces of the dual CAN bus and the robot power line;

a reset key (1) for terminating and re-operating the program of the DSP control board;

an extended I/O interface (20) as an interface for user debugging and for providing secondary function development;

the nixie tube (3) prompts a user to judge the running state of the robot according to the characters displayed by different digits;

the SCI serial port (4) is used for connecting with an upper computer through an external USB serial port communication line;

the pins P1 and P2 of the power interface (16) are respectively connected with pins P1 and P2 of a power switch (18) in a one-to-one correspondence manner, the pins P3 and P4 of the power switch (18) are respectively connected with pins P1 and P2 of a power converter in a one-to-one correspondence manner, the pins P3 and P4 of the power converter are respectively connected with the pins 5V + and 5V-of a DSP control board in a one-to-one correspondence manner, the pins P3 and P4 of a brake resistance control board are respectively connected with the pins P3 and P4 of the power switch (18) in a one-to-one correspondence manner, the pins 48V + and 48V-of the brake resistance are respectively connected with the pins P1 and P2 of the brake resistance control board in a one-to-one manner, the pins P3, P7, P1 and P5 of the robot interface (19) are respectively connected with the pins CANA-L, CANA-H, CANB-L, CANB-H of the DSP control board in a one-to-one, the P8 pin of the robot interface (19) is connected with the P2 pin of the power interface (16), the P1 pin of the emergency stop switch interface (17) is connected with the P1 pin of the power interface (16), the JTAG interface (2), the SCI serial port (4) and the expansion IO interface are led out of the DSP control board, and the DSP control board is externally connected with a reset key (1) and a nixie tube (3).

3. The six-axis collaborative robot development platform based on rapid control prototyping system as recited in claim 1 wherein: the six-axis cooperative robot is composed of a base (5), a first large joint module (6), a second large joint module (7), a third large joint module (10), a first small joint module (12), a second small joint module (13), a third small joint module (14), an upper arm sleeve (8), a bent sleeve (9), a lower arm sleeve (11) and a tail end flange (15);

the robot joint comprises a base (5) and a robot, wherein the base (5) is used for fixedly mounting the robot on an operation table, the upper end of the base is provided with a first large joint module (6), the central axis of the first large joint module (6) is superposed with the central axis of the base (5), the right end of the first large joint module (6) is provided with a second large joint module (7), the central axis of the second large joint module (7) is vertical to the central axis of the first large joint module (6), an upper arm sleeve (8) is arranged above the second large joint module (7), the central axis of the second large joint module (7) is vertical to the central axis of the upper arm sleeve (8), the upper end of the upper arm sleeve (8) is provided with a third large joint module (10), the axial line of the upper arm sleeve (8) is vertical to the central axis of the third large joint module (10), and the left end of the third large joint module (10) is connected with the right end of a bent sleeve (9), a lower arm sleeve (11) is installed at the upper end of the bent sleeve (9), a first facet joint module (12) is installed at the upper end of the lower arm sleeve (11), the central line axis of the first facet joint module (12) is perpendicular to the central axis of the lower arm sleeve (11), a second facet joint module (13) is installed at the right end of the first facet joint module (12), the axis of the second facet joint module (13) is perpendicular to the central axis of the first facet joint module (12), a third facet joint module (14) is installed at the upper end of the second facet joint module (13), the central axis of the third facet joint module (14) is perpendicular to the central axis of the second facet joint module (13), and a terminal flange (15) is installed at the right end of the third facet joint module (14); the first large joint module (6), the second large joint module (7), the third large joint module (10), the first small joint module (12), the second small joint module (13) and the third small joint module (14) are identical in structure, and the first large joint module (6), the second large joint module (7) and the third large joint module (10) are larger than the first small joint module (12), the second small joint module (13) and the third small joint module (14) in size.

4. The six-axis collaborative robot development platform based on rapid control prototyping system as recited in claim 1 wherein: the first large joint module (6) comprises:

the mechanical band-type brake adopts a bolt type mechanical band-type brake;

the frameless torque motor is used as a power source of the first large joint module (6);

5. The six-axis collaborative robot development platform based on the rapid control prototype system according to claim 2, wherein: the DSP control board adopts a 28335 chip of TI C2000, and the brake resistance control board adopts an STM32F103C8T6 chip.