基于ARM的嵌入式包装搬运机器人控制系统设计

发布时间：2018-04-30 14:40

本文选题：机器人 + ARM　；参考：《包装工程》2017年23期

【摘要】：目的为提高包装物品生产效率,提升直角包装搬运机器人的稳定性、可靠性和运动精度。方法根据四自由度直角坐标型包装搬运机器人的机械结构和功能需求,设计一款基于ARM嵌入式的直角包装搬运机器人控制系统。控制系统硬件由主控制器ARM,FPGA和示教器ARM组成,主控制器ARM通过串口与FPGA、示教器ARM以及伺服系统进行通讯。同时基于上述硬件结构提出一种改进型S曲线插值速度控制方法。结果实验结果表明,该控制系统下的直角包装搬运机器人定位精度为±0.5 mm,完全满足设计要求。结论该控制系统能够满足实际作业需求,提升了包装效率,降低了成本。
[Abstract]:Objective to improve the production efficiency of packaging products and improve the stability, reliability and kinematic accuracy of Cartesian packing and handling robot. Methods according to the mechanical structure and function requirement of 4-DOF Cartesian Cartesian Cartesian Robot, a control system of Cartesian packing and handling Robot based on ARM was designed. The hardware of the control system is composed of the main controller ARMU FPGA and the teacher ARM. The main controller ARM communicates with FPGA, ARM and servo system through serial port. At the same time, an improved S-curve interpolation speed control method is proposed based on the above hardware structure. Results the experimental results show that the positioning accuracy of the Cartesian packing and handling robot is 卤0.5 mm, which fully meets the design requirements. Conclusion the control system can meet the practical requirements, improve the packaging efficiency and reduce the cost.
【作者单位】：南京信息职业技术学院;
【基金】：江苏高校品牌专业建设工程资助项目(PPZY2015A092)
【分类号】：TB486;TP242

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