六自由度机器人开放式运动控制器设计

发布时间：2018-06-28 22:48

本文选题：机器人 + 运动控制器　；参考：《北京石油化工学院》2017年硕士论文

【摘要】：随着我国劳动力成本的快速上涨,使用工业机器人推动传统制造业的升级改造成为发展趋势。生产钢锹等工具的中小型制造企业对专业用于从事钢锹生产过程的机器人有着迫切需求,但是市场上此类机器人却十分罕见且价格昂贵。因此研发成本低、性能稳定可靠的搬运机器人,代替人工作业,成为当务之急。运动控制器是机器人控制系统的核心,其性能优劣直接影响机器人的工作。本文针对研发的六自由度搬运机器人,基于PC+运动控制器的开放式控制系统架构,进行运动控制器的设计研究。旨在研发一款开放程度高、价格低廉、易于操作的运动控制器,用于控制机器人完成钢锹生产中的搬运作业。具体研究内容如下:(1)六自由度机器人运动分析。分析六自由度机器人的特点,研究其运动学理论及运动控制方式,明确机器人运动控制需求,为运动控制器设计提供依据。(2)六自由度机器人运动控制器硬件设计。采用ARM+FPGA的架构,设计运动控制器硬件方案;采用模块化设计思想,设计以太网、RS232和CAN总线通信接口,实现与上位机通信;设计光耦合隔离的脉冲加方向信号接口、增量式编码器信号接口,完成伺服电机控制;设计片外高速SDRAM,完成ARM处理器的存储扩展;并设计通用I/O接口,完成机器人末端执行器的控制。(3)六自由度机器人运动控制器软件设计。编写ARM控制程序,完成通信、数据处理、电机控制等功能;设计FPGA可编程逻辑,完成电机伺服控制;采用Visual Studio开发上位机软件,协同运动控制器完成机器人的运动控制。(4)六自由度机器人运动控制器的功能测试。搭建测试系统,完成控制器通信功能、脉冲信号产生功能、编码器信号接收功能测试;并通过机器人定位控制精度测试,验证运动控制器能否满足设计要求。
[Abstract]:With the rapid increase of labor cost in our country, the use of industrial robots to promote the upgrading of traditional manufacturing industry has become a trend of development. Small and medium-sized manufacturers of tools such as steel spades have an urgent need for robots that specialize in the production of steel spades, but such robots are rare and expensive in the market. Therefore, research and development of low cost, stable and reliable handling robot, instead of manual work, has become an urgent task. Motion controller is the core of robot control system, and its performance directly affects the work of robot. In this paper, the design and research of the motion controller based on the open control system architecture of PC motion controller are carried out for the six degree of freedom moving robot. The aim of this paper is to develop a motion controller with high openness, low price and easy to operate, which can be used to control the robot to complete the handling of steel spades. The main contents are as follows: (1) six-DOF robot motion analysis. This paper analyzes the characteristics of six-degree-of-freedom robot, studies its kinematics theory and motion control mode, defines the robot motion control requirements, and provides the basis for the design of motion controller. (2) hardware design of six-degree-of-freedom robot motion controller. The hardware scheme of motion controller is designed based on arm FPGA, the communication interface between Ethernet RS232 and can bus is designed by modularization, and the interface of pulse and direction signal is designed. Incremental encoder signal interface, complete servo motor control, design out-of-chip high-speed SDRAM to complete the arm processor storage expansion, and design a general I / O interface, The control of the robot end actuator is completed. (3) the software design of the robot motion controller with six degrees of freedom. Write arm control program, complete communication, data processing, motor control and other functions; design FPGA programmable logic, complete motor servo control; use Visual Studio to develop upper computer software, (4) the function test of the six-degree-of-freedom robot motion controller. Build a testing system, complete the communication function of controller, pulse signal generation function, encoder signal receiving function test, and through the robot positioning control precision test, verify whether the motion controller can meet the design requirements.
【学位授予单位】：北京石油化工学院
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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