基于ARM的码垛机器人控制系统的研究

发布时间：2018-05-03 14:05

本文选题：码垛机器人 + 控制系统　；参考：《南京航空航天大学》2017年硕士论文

【摘要】：伴随工业技术水平的提高,我国已成为世界工厂的代名词。而工业机器人对工业技术水平的提升做出了突出的贡献,它使得工业自动化水平飞速提高。码垛机器人作为物流行业中常见的工业机器人,不仅提高了工作效率和降低了劳动强度,而且一定程度上解决了劳动力不足的现状。本课题基于码垛机器人的功能要求和工作原理,进行了基于ARM的控制系统的研究。本文提出了示教盒和主控制系统分别单独设计的方案,且这两个子系统间采用无线通讯方式,从而形成一个完整的控制系统。首先,研究了机器人的机械结构和工作原理,提出了控制系统的实现方案。并通过nRF24L01无线数据接收发射模块,实现两个子系统间的通讯功能。其次,基于ARM11系列的处理器和所需的功能模块,完成了示教盒的硬件模块的搭建。基于Linux操作系统和Qt/E应用程序,完成示教盒的软件模块的设计与搭建。在完成软硬件平台搭建工作之后,完成了基于嵌入式Linux的SPI驱动程序和Qt/E人机交互功能模块的开发。然后,基于Cortex-M3微处理器和所需的外围扩展模块,完成主控制系统的硬件平台的搭建。基于嵌入式μC/OS-II操作系统实现主控制系统的软件平台搭建,以提供主控制系统多任务处理能力和良好的实时性。采用分层次的思想,设计和开发主控制系统的软件架构,依次为驱动层、运动控制层和任务管理层。最后,完成本课题所研究的基于ARM的控制系统的功能测试。针对码垛机器人示教再现的工作模式,分别单独测试了手动示教功能、零点复位功能、点到点自动运行功能,并进行了物料搬运的案例分析。经测试该机器人工作运转平稳、重复定位精度较高,满足预期设计要求。
[Abstract]:With the improvement of industrial technology, China has become the synonym of the world factory. Industrial robots have made outstanding contributions to the upgrading of industrial technology, which makes the level of industrial automation improve rapidly. As a common industrial robot in logistics industry, palletizing robot not only improves the working efficiency and reduces the labor intensity, but also solves the shortage of labor force to some extent. Based on the function and working principle of palletizing robot, the control system based on ARM is studied. In this paper, a separate design scheme of teaching box and master control system is presented, and the wireless communication between the two subsystems is adopted to form a complete control system. Firstly, the mechanical structure and working principle of the robot are studied, and the realization scheme of the control system is proposed. The communication function between the two subsystems is realized through nRF24L01 wireless data receiving and transmitting module. Secondly, the hardware module of the teaching box is built based on the ARM11 processor and the required function module. Based on Linux operating system and Qt/E application, the software module of teaching box is designed and built. After the software and hardware platform is built, the SPI driver based on embedded Linux and the Qt/E man-machine interaction module are developed. Then, the hardware platform of the main control system is built based on the Cortex-M3 microprocessor and the needed peripheral expansion module. The software platform of the master control system is built based on embedded 渭 C/OS-II operating system to provide multi-task processing capability and good real-time performance of the master control system. The software architecture of the master control system is designed and developed with the idea of hierarchy, which consists of driving layer, motion control layer and task management layer. Finally, the function test of the control system based on ARM is completed. According to the working mode of teaching and reproducing of palletizing robot, the manual teaching function, zero reset function, point to point automatic operation function were tested separately, and the case study of material handling was carried out. It is tested that the robot has stable operation and high precision of repeated positioning, which meets the requirements of expected design.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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