CN105856244A - Heavy-load wireless transmission five-core high-speed joint robot control system - Google Patents
Heavy-load wireless transmission five-core high-speed joint robot control system Download PDFInfo
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- CN105856244A CN105856244A CN201610412014.3A CN201610412014A CN105856244A CN 105856244 A CN105856244 A CN 105856244A CN 201610412014 A CN201610412014 A CN 201610412014A CN 105856244 A CN105856244 A CN 105856244A
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 98
- 230000001133 acceleration Effects 0.000 claims abstract description 45
- 238000004891 communication Methods 0.000 claims abstract description 30
- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 210000000707 wrist Anatomy 0.000 claims description 41
- 230000033001 locomotion Effects 0.000 claims description 36
- 210000000245 forearm Anatomy 0.000 claims description 28
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract 1
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- 229910052799 carbon Inorganic materials 0.000 description 2
- 230000001186 cumulative effect Effects 0.000 description 2
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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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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Abstract
The invention discloses a heavy-load wireless transmission five-core high-speed joint robot control system which comprises a master station control computer and a controller. The controller comprises a DSP (digital signal processor) chip controller, a voice recognition processor, a PLC (programmable logic controller), a programmable logic chip controller, an image acquisition module, a wireless transmission module and an ARM [advanced RISC (reduced instruction set computer) machine] controller, the DSP chip controller and the ARM controller are in communication connection with the master station control computer, the DSP chip controller, the voice recognition processor and the ARM controller are in communication connection with one another, four rare-earth permanent magnet synchronous servo motors are in communication connection with the DSP chip controller, and a plurality of obstacle avoidance displacement sensors, a positioning sensor, a gyroscope and acceleration sensors are in communication connection with the DSP chip controller and the ARM controller. The heavy-load wireless transmission five-core high-speed joint robot control system has the advantages that the heavy-load wireless transmission five-core high-speed joint robot control system is high in computation speed, arms of robots can turn flexibly, the robots can act stably and accurately, and wireless monitoring can be facilitated.
Description
Technical field
The present invention relates to a kind of heavy duty and be wirelessly transferred five core high speed articulated robot control systems, belong to assembling work
Four articulated robot arm applications.
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 articulated robot to judge the location parameter that master controller inputs during transporting goods the moment, and sentences
Disconnected environment moment avoidance around, then by motion controller repetitive control, it accelerates accurately and deceleration is transported goods,
Deviation accumulation somewhat is possible to cause transporting unsuccessfully in many bouts move.Although the domestic use to SCARA robot
There are decades, but owing to domestic industry robot development starting ratio is later, affected by more key technology, SCARA machine
Man-based 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) although DC permanent-magnetic brushless servomotor relatively motor, direct current generator and DC servo motor performance
Improve, but its load capacity is relatively weak, it is impossible to meet heavy duty SCARA robot system requirement.
(5) starting after robot runs into emergency needs parking or stops is all to be completed by button, machine
The degree of intelligence of people is the highest.
Summary of the invention
The technical problem that present invention mainly solves is to provide a kind of heavy duty and is wirelessly transferred five core high speed articulated robots controls
System, this heavy duty is wirelessly transferred five core high speed articulated robot control systems and calculates speed soon, makes articulated robot arm turn to
Flexibly, having stable behavior is accurate, bearing capacity is big, stable performance, it is simple to wireless monitor, and the degree of intelligence of robot is high.
For solving above-mentioned technical problem, the technical solution used in the present invention is: provide a kind of heavy duty to be wirelessly transferred five cores high
Speed articulated robot control system, described articulated robot uses the rotation of rare-earth permanent-magnetic synchronous servomotor X driven machine people's large arm
Transhipment is dynamic, use rare-earth permanent-magnetic synchronous servomotor Y driven machine people's forearm rotary motion, use rare-earth permanent-magnetic synchronous servo electricity
Machine Z driven machine human wrist rotary motion, employing rare-earth permanent-magnetic synchronous servomotor R driven machine human wrist elevating movement, institute
State and avoidance displacement transducer S1, avoidance displacement transducer S2, gyroscope and acceleration transducer A1 be installed on robot's arm,
Avoidance displacement transducer S3, avoidance displacement transducer S4, gyroscope and acceleration transducer are installed on described robot forearm
A2, described robot wrist is provided with alignment sensor S5, gyroscope and acceleration transducer A3, described control system bag
Including main website and control computer and controller, described controller includes dsp chip controller, PlC controller, programmable logic chip
Controller, voice recognition processor, image capture module, wireless transport module and ARM controller, described image capture module with
Communicate to connect between wireless transport module, described dsp chip controller, programmable logic chip controller, voice recognition processing
Device and PlC controller all control compunication with described main website and are connected, described dsp chip controller, programmable logic chip
Controller, voice recognition processor and ARM controller are communicatively connected to each other, and described wireless transport module communicates with ARM controller
Connecting, described PlC controller communicates to connect with ARM controller, described rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous
Servomotor Y, rare-earth permanent-magnetic synchronous servomotor Z and rare-earth permanent-magnetic synchronous servomotor R all lead to described dsp chip controller
Letter connects, described avoidance displacement transducer S1, avoidance displacement transducer S2, avoidance displacement transducer S3, avoidance displacement transducer
S4, alignment sensor S5, each gyroscope, acceleration transducer A1, acceleration transducer A2 and acceleration transducer A3 are all simultaneously
Communicate to connect with described dsp chip controller and ARM controller.
In a preferred embodiment of the present invention, also include the master that power supply is provided for described articulated robot and control system
Controller in power supply and stand-by power supply, each described motor in described articulated robot and sensor and control system is equal
It is electrically connected with described main power source and/or stand-by power supply.
In a preferred embodiment of the present invention, described rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servo electricity
The even photoelectric encoder that is provided with on machine Y, rare-earth permanent-magnetic synchronous servomotor Z and rare-earth permanent-magnetic synchronous servomotor R, described photoelectricity
Encoder is electrically connected with described dsp chip controller.
In a preferred embodiment of the present invention, described image capture module is CCD camera assembly.
In a preferred embodiment of the present invention, in described image capture module, it is provided with decoding chip.
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: the heavy duty of the present invention is wirelessly transferred five core high speed articulated robot control systems and calculates
Speed is fast, makes that articulated robot arm turns to flexibly, having stable behavior is accurate, bearing capacity is big, stable performance, it is simple to wireless monitor,
The degree of intelligence of robot is high, and the addition of wireless transmitting system makes main website can understand working result in real time, and main website can simultaneously
With the SCARA robot of change the most in real time task.
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-magnetic synchronous servomotor SCARA robot two-dimensional structure figures；
Fig. 3 is the internal three Close loop servo control schematic diagrams of programmable logic chip controller；
Fig. 4 is based on five core four axle rare-earth permanent-magnetic synchronous servomotor SCARA robot controller schematic diagrams；
Fig. 5 is based on five core four axle rare-earth permanent-magnetic synchronous servomotor SCARA robot program's block diagrams；
Fig. 6 is based on five core four axle rare-earth permanent-magnetic synchronous servomotor motion principle figures；
Fig. 7 is four spindle motor acceleration and deceleration curves figures；
Fig. 8 is that the heavy duty of the present invention is wirelessly transferred five core high speed articulated robot Control system architecture schematic diagrams.
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-magnetic synchronous servomotor X, 8, rare-earth permanent-magnetic synchronous servomotor
Y, 9, rare-earth permanent-magnetic synchronous servomotor Z, 10, rare-earth permanent-magnetic synchronous servomotor R, 11, photoelectric encoder, 12, avoidance displacement
Sensor S1,13, avoidance displacement transducer S2,14, avoidance displacement transducer S3,15, avoidance displacement transducer S4,16, location
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, magnetoelectric transducer EM4,25, wireless biography
Defeated module, 26, image capture module, 27, decoding chip, 28, voice recognition processor, 29, gyroscope, 30, FPGA
Chip controller.
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 heavy duty is wirelessly transferred five core high speed articulated robot controls
System processed, this machine artificially SCARA robots based on four axle rare-earth permanent-magnetic synchronous servomotors, the most described articulated robot is adopted
With rare-earth permanent-magnetic synchronous servomotor X7 driven machine people's large arm rotary motion, rare-earth permanent-magnetic synchronous servomotor Y8 is used to drive
Robot forearm rotary motion, employing rare-earth permanent-magnetic synchronous servomotor Z9 driven machine human wrist rotary motion, employing rare earth
Permanent magnet synchronous servo motor R10 driven machine human wrist elevating movement, described robot's arm is provided with avoidance displacement sensing
Device S1 12, avoidance displacement transducer S2 13, gyroscope 29 and acceleration transducer A1 17, described robot forearm is installed
There are avoidance displacement transducer S3 14, avoidance displacement transducer S4 15, gyroscope 29 and acceleration transducer A2 18, described machine
Alignment sensor S5 16, gyroscope 29 and acceleration transducer A3 19 are installed in device human wrist.
Described control system includes that main website controls computer 1 and controller 2, and described controller 2 includes dsp chip control
Device 3, voice recognition processor 28, programmable logic chip controller 30, PlC controller 20, image capture module 26, wireless biography
Defeated module 25 and ARM controller 4, communicate to connect between described image capture module 26 and wireless transport module 25, described DSP core
Sheet controller 3, programmable logic chip controller 30, voice recognition processor 28 and PlC controller 20 all with the control of described main website
Computer 1 processed communicates to connect, described dsp chip controller 3, programmable logic chip controller 30, voice recognition processor 28
Communicatively connected to each other with ARM controller 4, described wireless transport module 25 and ARM controller 4 communicate to connect, described PlC controller
20 communicate to connect with ARM controller 4, are provided with decoding chip 27 in described image capture module 26.
Described rare-earth permanent-magnetic synchronous servomotor X7, rare-earth permanent-magnetic synchronous servomotor Y8, rare-earth permanent-magnetic synchronous servo electricity
Machine Z9 and rare-earth permanent-magnetic synchronous servomotor R10 all communicates to connect with described dsp chip controller 3, described avoidance displacement sensing
Device S1 12, avoidance displacement transducer S2 13, avoidance displacement transducer S3 14, avoidance displacement transducer S4 15, orientation sensing
Device S5 16, gyroscope 29, acceleration transducer A1 17, acceleration transducer A2 18 and acceleration transducer A3 19 are all simultaneously
Communicate to connect with described dsp chip controller 3, PLC 20 and ARM controller 4.
Preferably, the heavy duty of the present invention is wirelessly transferred five core high speed articulated robot control systems and also includes for described joint
Robot and control system provide main power source 5 and the stand-by power supply 6 of power supply, each the described motor in described articulated robot and
Controller 2 in sensor and control system is all electrically connected with described main power source 5 and/or stand-by power supply 6.
Preferably, described rare-earth permanent-magnetic synchronous servomotor X 7, rare-earth permanent-magnetic synchronous servomotor Y 8, rare earth permanent magnet are together
The even photoelectric encoder 11 that is provided with on step servomotor Z 9 and rare-earth permanent-magnetic synchronous servomotor R10, described photoelectric encoder 11
It 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 3(TMS320F2812) voice recognition processor 28(is chip-shaped for+PLC 20+
Number LD3320)+programmable logic chip controller 30(i.e. CPLD controller)+ARM controller 4(STM32F746) five cores carry out
System controls.Under power-on state, ARM controller the most dynamically edits the key words list of LD3320, increases robot
Phonetic recognization rate, then to robot stand-by power supply SOC(state-of-charge) and main power source judge, if stand-by power source is relatively
Low, controller will send alarm signal by wireless device to master station；If stand-by power supply and main power source are working properly, first by
Master station passes through PLC or based on LD3320 speech recognition system transporting goods large arm, forearm and the wrist anglec of rotation
And the information such as adjustable height inputs to ARM, ARM calculate the parameter queue of robot servo's system；SCARA robot takes
Zero position sensor EM1, EM2, EM3, EM4 and the image capturing system based on CCD of band are started working, and make robot reset to
Setting zero position, robot enters self-locking state；After once carrying command starts, avoidance sensor that robot carries, location
Sensor and acceleration transducer are all opened, SCARA robot according to set optimization transport path fast removal, CPLD according to
Servo parameter and sensor feedback adjust SCARA robot rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servo in real time
The PWM output of motor Y, rare-earth permanent-magnetic synchronous servomotor Z and rare-earth permanent-magnetic synchronous servomotor R, it is achieved four rare earth permanent magnets
The real-time servo of synchronous servo motor controls, and CCD camera detects carrying result in real time, and ARM is to the process of digital picture and deposits
Storing up and transmitted by wireless system, main website controls computer 1 and automatically detects carrying result by image comparison technology；If ARM
Have a question to carrying some position, will be with DSP communication, DSP forbids that CPLD work, and the PWM of four axle SCARA robots controls to believe
Number being blocked, robot original place self-locking, then carrying information is judged by main website by image comparison, confirm errorless after pass through
Wireless device restarting SCARA robot continues being not fully complete of task；In robot kinematics, if running into urgent feelings
Condition, main website will input control command by microphone apparatus to controller, with ARM communication after speech recognition device LD3320 identification,
ARM is had by CPLD, main website order to be converted into the control of each rare-earth permanent-magnetic synchronous servomotor with DSP communication, DSP after processing
Signal processed.
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, in order to improve robot voice recognition effect, false recognition rate, ARM are reduced further
Controller first inputs the conventional number order of SCARA robot and instruction to LD3320, is used for absorbing wrong identification, thus reaches
Reduce the purpose of LD3320 false recognition rate.
2) stand-by power supply SOC and main power source state are first judged by ARM, if stand-by power supply SOC is relatively low, DSP will
Forbidding that four rare-earth permanent-magnetic synchronous servomotor work, motor input PWM ripple are blocked, alarm sensor is concurrent by work simultaneously
Go out alarm signal；If battery SOC is normal, SCARA robot enters and treats duty, waits work order.
3) once master station's work order starts, and master station can select to control based on LD3320 speech recognition system or PLC
Device processed and ARM communication, any one controller can be passed to the information such as the length of large arm, forearm lengths and elevating lever
ARM controller, then robot starts correcting zero position, magnetoelectric transducer EM1, EM2, EM3, EM4 that SCARA robot carries
Start working with image capturing system based on CCD, and each find the zero position mark of setting, when magnetoelectric transducer EM1,
When EM2, EM3 and EM4 all have signal to export, ARM gathers image by wireless system real-time Transmission CCD, and master station passes through image pair
After determining that position is errorless than technology, by wireless device and DSP communication, DSP blocks four road rare-earth permanent-magnetic synchronous by CPLD and watches
Taking the PWM wave control signal of motor, SCARA robot guides zero position to reset automatically, and ARM and dsp controller now set
Each anglec of rotation fixed, wrist lifting height。
4) in order to meet the acceleration and deceleration needs of SCARA robot, the present invention uses such as the movement time ladder diagram of Fig. 7, this
The area that ladder diagram comprises is exactly robot's arm, forearm and wrist angle to be rotated or the height of wrist lifting, for
The control, the present invention is facilitated to use single acceleration model.
5) SCARA robot reads its mode of operation, if manual working pattern, main website begin through PLC or
Speech recognition system based on LD3320 and ARM controller communication, by main website input SCARA robot's arm, forearm and wrist
Need the angle rotated,,And SCARA robot wrist needs to rise or the height of declineTo ARM control
Device, ARM controller starts robot forward according to Denavit-Hartenberg algorithm and solves: ARM controller first basis
SCARA robot's arm, forearm and wrist need the angle rotated,,And SCARA robot wrist needs to rise
HeightCalculate the position auto-control between adjacent two member coordinates,,,And use 4*4 two-dimemsional number
Group mark,,,,It is expressed as follows respectively:
,,
,。
Then formula is passed throughJust can obtain wrist executor complete the position after task and
Attitude, then ARM Yu DSP communication, and transmit be manually entered parameter.
6) SCARA robot reads its mode of operation, if normal automatic transporting mode of operation, main website begins through
PLC or speech recognition system based on LD3320 and ARM controller communication, by main website input SCARA robot's arm, little
Initial position residing for arm and wrist and given position three-dimensional coordinate are to ARM controller, and ARM controller is according to Denavit-
It is Converse solved that Hartenberg algorithm starts robot: ARM controller is first according to large arm, forearm lengths and final three-dimensional
X and Y coordinates in coordinate obtain the angle that large arm needs to rotate, and byValue obtainValue, and according to three-dimensional sit
Z coordinate in mark obtains the height that wrist rises or reduces, finally obtain the anglec of rotation, owing to solvingWhen
Equation has bilingual, so SCARA robot obtains the angle that large arm, forearm and wrist need to rotate,,And
SCARA robot wrist needs the height risenAfter, solving result can be optimized by ARM controller, and then ARM controls
Device and DSP communication, most have servo motion parameter to be transferred to dsp controller in robot.
7) 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 will open, and first SCARA robot wants zero setting position to judge, after confirming that initial position is errorless, and SCARA robot pair
Barrier in each turning arm anglec of rotation judges, will send interrupt requests to DSP as there is barrier, and DSP can be right
Interrupting doing very first time response, then DSP forbids that CPLD works, four axle rare-earth permanent-magnetic synchronous servomotor PWM wave control signals
Being blocked, SCARA robot forbids that rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare earth permanent magnet are same
Step servomotor Z and motor rare-earth permanent-magnetic synchronous servomotor R work, robot original place self-locking, image acquisition system based on CCD
System is opened, and ARM sends interrupt requests by wireless device to master station after processing, and in order to prevent information from judging by accident, master station is by wireless
Transmission image secondary judges the obstacle information in range of movement, master station artificially process barrier, prevents barrier impact from removing
Fortune work.
8) if by image taking results, master station's secondary determines that clear enters moving region, wireless device will be passed through
With DSP communication, according to the speed time curve of Fig. 7, DSP is three anglecs of rotation,,It is converted into three rare earth permanent magnets
The acceleration of synchronous servo motor, speed and position initial order value, then DSP Yu CPLD communication, CPLD combines motor X, electricity
Machine Y and motor Z current feedback, acceleration transducer, gyroscope and the feedback of photoelectric encoder, through CPLD internal servo regulation journey
Sequence generates motor X, motor Y and the PWM wave control signal of motor Z, drives each motor movement through drive axle.CPLD controller leads to
The number of drive pulses crossing adjustment rare-earth permanent-magnetic synchronous servomotor adjusts its anglec of rotation, watches by adjusting rare-earth permanent-magnetic synchronous
The frequency taking motor control signal realizes the change of angular velocity speed, and the deviation size that CPLD inputs according to three closed loops adjusts in real time
The pid parameter of internal SERVO CONTROL program, makes three axle rare-earth permanent-magnetic synchronous servomotor timing synchronization work, DSP moment record
The location parameter that robot has moved.
9) in SCARA robot moving process, the moving obstacle in range of movement is carried out by sensor S1 ~ S4 moment
Judge, if having barrier enter range of movement, DSP immediately by CPLD make the large arm of SCARA robot, forearm and wrist by
Retarded motion curve according to Fig. 7 stops immediately, and dsp controller records present rotation angel degree,,Information, main website passes through
Wireless device inputs the anglec of rotation of new position to DSP,,, then DSP controls the CPLD curve movement weight according to Fig. 7
New through three sections of movement locus: accelerated motion, uniform motion and retarded motion, eventually arrive at set point.
10) in moving process, the DSP moment records the angle acceleration that the large arm of accelerometer feedback, forearm and wrist rotate
Degree, and the anglec of rotation of large arm, forearm and wrist is obtained by quadratic integral, and compared with the position angle angle value set, as
Really deviation is more than setting threshold values, and DSP is converted into three the new acceleration of rare-earth permanent-magnetic synchronous servomotor, speed this deviation
Degree and position initial order value, in the next sampling period, DSP Yu CPLD communication, CPLD combines motor X, motor Y and motor Z
Current of electric feedback, acceleration transducer, gyroscope and the feedback of photoelectric encoder, through CPLD internal servo regulation Program Generating
The PWM wave control signal of motor X, motor Y and motor Z, drives each motor movement through drive axle.CPLD controller closes according to three
The deviation size of ring input adjusts the pid parameter of internal SERVO CONTROL program in real time, and CPLD controller is by adjusting rare earth permanent magnet
The number of drive pulses of synchronous servo motor adjusts its anglec of rotation, by adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal
Frequency realize the change of angular velocity speed, and then eliminate the error that a sampling period produces, make SCARA robot according to
Set track and complete task.
11) 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-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, servomotor Z is to be run for rare-earth permanent-magnetic synchronous
Angle, angle rates and angular acceleration, CPLD combines motor X, motor Y and motor Z current feedback, acceleration transducer, gyro
Instrument and the feedback of photoelectric encoder, through the PWM ripple control of CPLD internal servo regulation Program Generating motor X, motor Y and motor Z
Signal, drives each motor movement through drive axle.The deviation size that CPLD controller inputs according to three closed loops adjusts inside in real time
The pid parameter of SERVO CONTROL program, CPLD adjusts its rotation by the number of drive pulses adjusting rare-earth permanent-magnetic synchronous servomotor
Gyration, is realized the change of angular velocity speed, makes SCARA by the frequency adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal
Robot quickly moves ahead according to setting speed.
12) in SCARA robot kinematics, ARM and DSP real time record robot's arm, forearm and wrist rotate
Angle, if master station finds that the robot speed of service is relatively slow, can be accelerated to ARM input by LD3320 speech recognition system
Order, ARM according to acceleration time requirement with DSP communication, CPLD, is converted into rare-earth permanent-magnetic synchronous remaining angle and watches after processing
Take motor X, rare-earth permanent-magnetic synchronous servomotor Y, angle to be run for rare-earth permanent-magnetic synchronous servomotor Z, angle rates
Instructing with angular acceleration, CPLD controller is in conjunction with current of electric feedback, acceleration transducer, gyroscope and photoelectric encoder
Feedback, according to its internal three closed loops based onVector controlled servo programe readjust three rare-earth permanent-magnetic synchronous servos
The pwm control signal signal of motor, makes robot be rapidly completed task.
13) in SCARA robot kinematics, ARM and DSP real time record robot's arm, forearm and wrist rotate
Angle, if master station find robot need emergency service, can by LD3320 speech recognition system to ARM input stop
Order, ARM process after with DSP communication, CPLD according to requirement down time, in conjunction with current of electric feedback, acceleration transducer,
Gyroscope and the feedback of photoelectric encoder, according to its internal three closed loops based onVector controlled servo programe readjust
The pwm control signal signal of three rare-earth permanent-magnetic synchronous servomotors, makes robot be quickly completed parking, and dsp controller passes through
Angle that acceleration and gyro sensor real time record robot rotate also stores.Main website detects complete by image comparison
After, starting order by LD3320 speech recognition system to ARM input, with DSP communication after ARM process, CPLD is according to when accelerating
Between requirement, remaining angle is converted into rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare earth permanent magnet
Angle, angle rates and angular acceleration instruction to be run for synchronous servo motor Z, CPLD controller is in conjunction with current of electric
The feedback of feedback, acceleration transducer, gyroscope and photoelectric encoder, according to its internal three closed loops based onVector control
Servo programe processed readjusts the pwm control signal signal of three rare-earth permanent-magnetic synchronous servomotors, makes robot be rapidly completed
Residue task.
14) 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, ccd image acquisition system Real-time Collection carrying information, after ARM processes
Sending image transmitting by wireless device to master station to ask, carrying result, DSP handle detect automatically by image comparison technology in master station
Three anglec of rotation deviations,,Be converted into three rare-earth permanent-magnetic synchronous servomotor fine position acceleration,
Speed and position initial order value, then DSP Yu CPLD communication, CPLD combines motor X, motor Y and motor Z current feedback, adds
The feedback of velocity sensor, gyroscope and photoelectric encoder, through CPLD internal servo regulation Program Generating motor X, motor Y and electricity
The PWM wave control signal of machine Z, drives each motor movement through drive axle.The deviation that CPLD controller inputs according to three closed loops is big
The little real-time pid parameter adjusting internal SERVO CONTROL program, CPLD controller is by adjusting rare-earth permanent-magnetic synchronous servomotor
Number of drive pulses adjusts its anglec of rotation, realizes angle speed by the frequency adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal
The change of degree speed, makes robot's arm, forearm and wrist arrive by the task again of three axle rare-earth permanent-magnetic synchronous servomotors
Reach setting position.
15) angle is completed when large arm, forearm and the wrist of SCARA robot,,Angle compensation arrive set
Behind position, the sensor EM4 in wrist will be again turned on, and first SCARA robot wants zero setting position to judge, confirm initial
After position is errorless, DSP is according to the speed time curve of Fig. 7, distance to be lifted for wristIt is converted into rare-earth permanent-magnetic synchronous to watch
Take the acceleration of motor R, speed and position initial order value, then DSP Yu CPLD communication, CPLD combine motor R current feedback,
The feedback of acceleration transducer, gyroscope and photoelectric encoder, through the PWM ripple of CPLD internal servo regulation Program Generating motor R
Control signal, drives motor R motion through drive axle.The deviation size that CPLD controller inputs according to three closed loops adjusts inside in real time
The pid parameter of SERVO CONTROL program, CPLD controller is adjusted by the number of drive pulses adjusting rare-earth permanent-magnetic synchronous servomotor
Its anglec of rotation whole, realizes the change of angular velocity speed by the frequency adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal,
Wrist is made steadily to arrive setting position within the setting time.
16) 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 blocked by CPLD immediately
The control signal of four rare-earth permanent-magnetic synchronous servomotors, robot original place self-locking, ARM controller passes through wireless device and main website
Carrying out communication, the CCD moment gathers peripheral information and by being wirelessly transferred, and image acquisition information is analyzed by main website, and according to
Collection result secondary restarts SCARA robot, by PLC or LD3320 speech recognition system secondary to
SCARA robot input carrying information.
17) in SCARA robot motor process the most repeatedly, if main website is found to have interim vital task and needs to add
In work queue, LD3320 controller will be opened by main website, by main website by LD3320 controller and ARM communication, to ARM input weight
Wanting the position servo parameter of task, ARM Yu DSP communication, first completed currently outstanding task by DSP, ARM updates simultaneously
DSP original servo control parameter queue, and transmit new servo position parameter to DSP, make DSP next one servo motion
Control important temporary duty.
18) 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-magnetic synchronous Serve Motor Control programs of CPLD
Error is compensated, eliminates cumulative errors in time.
19) during SCARA robot transport, main website can automatically analyze contrast to collection image based on CCD,
When having problems such as a certain position of pinpointing the problems, main website first passes through wireless device and DSP communication, and first DSP controls CPLD completes
Current task is also stopped setting zero position, main website automatically detect carrying result, automatically updated by ARM after detection
The next servo-controlled location parameter of DSP, is controlled CPLD by DSP and realizes the SERVO CONTROL of new position.
20) rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare-earth permanent-magnetic synchronous servo electricity it are contained in
Photoelectric encoder on machine Z, rare-earth permanent-magnetic synchronous servomotor R can export its position signalling A and position signalling B and pulse Z, light
Position signalling A pulse and the B pulsed logic state of photoelectric coder often change once, and the location register in DSP and ARM can basis
The traffic direction of motor adds 1 or subtracts 1；The position signalling A pulse of photoelectric encoder and B pulse and Z pulse are low electricity simultaneously
At ordinary times, an INDEX signal is just produced to DSP and ARM internal register, the absolute position of record rare-earth permanent-magnetic synchronous servomotor
Putting, be then convert into SCARA robot's arm, forearm or the wrist particular location in three-dimensional coordinate system, ARM controls
Device by PLC and main website communication, is transferred to main website important location parameter in real time.When magnetoelectric transducer EM1, EM2 and EM3 read
During to transducing signal, dsp controller will replace existing location parameter with zero position parameter, eliminate cumulative errors in time.
21) 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-magnetic synchronous servomotor provides energy, and DSP adjusts four rare earth permanent magnets in real time by CPLD internal servo regulation program
The PWM output of synchronous servo motor, dsp controller is adjusted by the number of drive pulses adjusting rare-earth permanent-magnetic synchronous servomotor
Its anglec of rotation, is realized the change of angular velocity speed, makes by the frequency adjusting rare-earth permanent-magnetic synchronous Serve Motor Control signal
SCARA robot completes to carry specifically task, and then SCARA robot carries out communication by PLC and main website, and notifies that main website enters
Row maintenance.
22) 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-magnetic synchronous servomotor, owing to the present invention usesVector control mode, therefore
Controller can be easy to compensate this interference, and adjusts internal three Close loop servo control programs in real time according to interference size CPLD
Pid parameter, decreases the motor torque disturbance impact on SCARA robot kinematics.
20) task is completed when SCARA robot, it is achieved during the zero of position, acceleration transducer A1 ~ A3 that it carries, top
Spiral shell instrument 30, magnetoelectric transducer EM1, EM2, EM3, EM4 and image acquisition are that system can work, when acceleration and speed exceed in the moment
During pre-set threshold value, can be revised, at next cycle dsp controller, the error that a cycle brings by CPLD, work as magnetic-electric sensing
When device EM1, EM2, EM3, EM4 all have signal to export, ccd image acquisition system Real-time Collection repositioning information is logical after ARM processes
Crossing wireless device and send image transmitting request to master station, master station is automatically reset result by image comparison technology, determine errorless after,
DSP blocks the PWM wave control signal of four road rare-earth permanent-magnetic synchronous servomotors by CPLD, and SCARA robot guides zero automatically
Position has resetted, and SCARA robot realizes the playback from certain point to zero-bit according to the Velocity-time curve movement of Fig. 7, so
Rear zero-bit self-locking, waits next group carrying command.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description is made convert, or are directly or indirectly used in other relevant technology neck
Territory, is the most in like manner included in the scope of patent protection of the present invention.
Claims (7)
1. a heavy duty is wirelessly transferred five core high speed articulated robot control systems, it is characterised in that described articulated robot is adopted
With rare-earth permanent-magnetic synchronous servomotor X driven machine people's large arm rotary motion, rare-earth permanent-magnetic synchronous servomotor Y is used to drive machine
Device people's forearm rotary motion, employing rare-earth permanent-magnetic synchronous servomotor Z driven machine human wrist rotary motion, employing rare earth permanent magnet
Synchronous servo motor R driven machine human wrist elevating movement, described robot's arm is provided with avoidance displacement transducer S1, keeps away
Barrier displacement transducer S2, gyroscope and acceleration transducer A1, described robot forearm is provided with avoidance displacement transducer S3,
Avoidance displacement transducer S4, gyroscope and acceleration transducer A2, described robot wrist is provided with alignment sensor S5, top
Spiral shell instrument and acceleration transducer A3, described control system includes that main website controls computer and controller, and described controller includes
Dsp chip controller, PlC controller, programmable logic chip controller, voice recognition processor, image capture module, wireless
Transport module and ARM controller, communicate to connect between described image capture module and wireless transport module, described dsp chip control
Device processed, programmable logic chip controller, voice recognition processor and PlC controller all control compunication with described main website
Connecting, described dsp chip controller, programmable logic chip controller, voice recognition processor and ARM controller communicate with one another
Connecting, described wireless transport module and ARM controller communication connection, described PlC controller communicates to connect with ARM controller, institute
State rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare-earth permanent-magnetic synchronous servomotor Z and rare earth permanent magnet
Synchronous servo motor R all communicates to connect with described dsp chip controller, described avoidance displacement transducer S1, avoidance displacement sensing
Device S2, avoidance displacement transducer S3, avoidance displacement transducer S4, alignment sensor S5, each gyroscope, acceleration transducer A1,
Acceleration transducer A2 and acceleration transducer A3 communicates to connect with described dsp chip controller and ARM controller all simultaneously.
Heavy duty the most according to claim 1 is wirelessly transferred five core high speed articulated robot control systems, it is characterised in that also
Including providing main power source and the stand-by power supply of power supply for described articulated robot and control system, each in described articulated robot
Controller in individual described motor and sensor and control system is all electrically connected with described main power source and/or stand-by power supply.
Heavy duty the most according to claim 1 is wirelessly transferred five core high speed articulated robot control systems, it is characterised in that institute
State rare-earth permanent-magnetic synchronous servomotor X, rare-earth permanent-magnetic synchronous servomotor Y, rare-earth permanent-magnetic synchronous servomotor Z and rare earth permanent magnet
The even photoelectric encoder that is provided with on synchronous servo motor R, described photoelectric encoder is electrically connected with described dsp chip controller.
The most according to any one of claim 1 to 3 teaching with being wirelessly transferred three core quick articulated robot control system,
It is characterized in that, described image capture module is CCD camera assembly.
Teaching the most according to claim 4 is with being wirelessly transferred three core quick articulated robot control system, it is characterised in that
It is provided with decoding chip in described image capture module.
Heavy duty the most according to any one of claim 1 to 3 is wirelessly transferred five core high speed articulated robot control systems, its
It is characterised by, described robot's arm is provided with magnetoelectric transducer EM1, described robot forearm is provided with magnetoelectric transducer
EM2, described robot wrist is provided with magnetoelectric transducer EM3 and EM4, described magnetoelectric transducer EM1, magnetoelectric transducer EM2,
Magnetoelectric transducer EM3 and EM4 all communicates to connect with described dsp chip controller and ARM controller.
Heavy duty the most according to claim 4 is wirelessly transferred five core high speed articulated robot control systems, it is characterised in that institute
State and magnetoelectric transducer EM1 is installed on robot's arm, described robot forearm is provided with magnetoelectric transducer EM2, described machine
Magnetoelectric transducer EM3 and EM4, described magnetoelectric transducer EM1, magnetoelectric transducer EM2, magnetoelectric transducer are installed in device human wrist
EM3 and EM4 all communicates to connect with described dsp chip controller and ARM controller.
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