基于ARM-Linux的机器人控制系统的开发

发布时间：2018-06-16 18:18

本文选题：机器人控制器 + ARM　；参考：《南京航空航天大学》2017年硕士论文

【摘要】：近年来,工业机器人相关技术取得了较大进展,加上传感器技术的突破和人工智能等相关领域的长足发展,工业机器人控制器得到了迅猛的发展。而控制系统作为其核心组成部分,也已经发展成为结合开放式体系和模块化可重构等架构体系的复杂而又可拓展的多元化系统。本文针对待开发的控制系统构建了一个具备4-DOF的机械本体,根据其机械结构独有的特点和控制系统所要完成的任务特性,对机器人控制系统进行功能需求分析,确定了基于ARM和Linux的子系统分离控制方案。然后为搭建好的四自由度机器人建立D-H模型,进行正运动学和逆运动学分析,并借助代数法解得运动关节相对时间的函数表达式。对机器人末端执行器进行笛卡尔空间坐标下的路径规划,计算得出速度对时间的位移s(t)-速度v(t)-时间t三次多项式运动规划方程。其次设计了基于ARM11核心处理器的部分硬件,比如UART、LCD屏、触摸屏、SD卡槽、4x4键盘等电路。随即搭建了基于Linux的嵌入式软件运行环境,实现了LCD、UART、4x4矩阵键盘等底层驱动。采用面向对象的思想和多线程技术,构造了整个控制系统的模块化框架,开发了基于MODBUS通讯协议的串口通信、基于SQL的文档数据、单轴示教和嵌入动画演示功能的轨迹控制等功能模块。最后对控制系统各个模块进行了单独测试和联合测试,发现控制系统各模块能满足工业机器人对控制系统的功能要求,符合四自由度码垛机器人的特性所需求的应用要求。
[Abstract]:In recent years, great progress has been made in the related technology of industrial robot. With the breakthrough of sensor technology and the rapid development of artificial intelligence and other related fields, industrial robot controller has been rapidly developed. As its core component, the control system has also developed into a complex and extensible pluralistic system combining open architecture and modular reconfigurable architecture. In this paper, a 4-DOF mechanical ontology is constructed for the control system to be developed. According to the unique characteristics of the mechanical structure and the task characteristics of the control system, the functional requirements of the robot control system are analyzed. The separate control scheme of subsystem based on arm and Linux is determined. Then the D-H model is built for the four-degree-of-freedom robot, and the forward kinematics and inverse kinematics analysis are carried out, and the function expression of the relative time of the kinematic joint is obtained by using the algebraic method. The path planning of the robot end effector in Cartesian space coordinates is carried out, and the kinematic programming equation of the displacement of velocity to time is obtained. Secondly, some hardware based on ARM11 core processor is designed, such as UART LCD screen, touch-screen SD card slot 4x4 keyboard and so on. Then the embedded software running environment based on Linux is built, and the underlying driver, such as LCD-UART 4x4 matrix keyboard, is realized. The modularization frame of the whole control system is constructed by using the object-oriented thought and multi-thread technology. The serial port communication based on Modbus protocol and the document data based on SQL are developed. Single-axis demonstration and embedded animation demonstration function of trajectory control and other functional modules. Finally, each module of the control system is tested separately and jointly. It is found that each module of the control system can meet the functional requirements of the control system of the industrial robot and meet the requirements of the application of the characteristics of the four-degree-of-freedom palletizing robot.
【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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