协作机器人控制系统的研究与实现

发布时间：2018-06-21 15:25

本文选题：协作机器人 + 体感示教　；参考：《北方工业大学》2017年硕士论文

【摘要】：随着工业机器人技术的不断革新,工业机器人和人类操作者间的直接物理交互已经引起了科研工作者的极大兴趣,并催生了大量关于人机协作的技术创新。允许人与机器人近距离合作能够在诸多领域中提高人与机器人双方的工作效率,并且这种协作模式在小件装配应用中极具优势,人机协作被视为由人工装配到无人工厂的最佳过渡方案。对协作机器人控制系统进行研究能够很好的助力我国实现工业自动化和智能化的发展目标。本课题在分析研究国内外协作机器人的最新成果的基础上,提出基于高速RS485总线的协作机器人控制系统,该控制系统由控制器、体感示教器和伺服驱动单元三部分组成。控制器采用ARM+FPGA的硬件架构,以基于ARM9内核的iMX6作为主控芯片,内部运行实时Linux操作系统,负责示教程序解析、多任务调度、运动算法实现,支持多种通信接口。FPGA采用EP4CE22F17芯片,负责关节电机控制脉冲的同步输出及编码器反馈信号处理。体感示教器以STM32F103为主控,通过惯性传感器LSM9DS1检测示教器空间姿态,以实现体感操作获取示教点,配以液晶屏、键盘、功能开关等输入输出组件,实现用户的控制信号输入及控制器的提示信息输出。为满足协作机器人的轻量化需求,将伺服驱动单元与关节电机及编码器进行模块化设计,伺服驱动单元以STM32F405为主控芯片,通过高速RS45总线接收来自控制器的控制命令,生成相应电机驱动信号,并将编码器信息及传感器采集的电流、电压和震动信息反馈给控制器。最后,在完成硬件电路设计与测试之后,以7自由度轻型机械臂为测试平台,对整套控制系统进行实例论证。结果表明,该机器人控制系统交互性强、操作简洁,具有较好的稳定性和可靠性。
[Abstract]:With the continuous innovation of industrial robot technology, the direct physical interaction between industrial robot and human operators has aroused great interest of researchers, and a large number of human-computer collaboration technology innovation has been spawned. Allowing close cooperation between human and robot can improve the efficiency of both human and robot in many fields, and this mode of cooperation has great advantages in small assembly applications. Human-machine collaboration is regarded as the best transition from manual assembly to unmanned factory. The research of cooperative robot control system can help our country to realize the development goal of industrial automation and intelligence. On the basis of analyzing and studying the latest achievements of cooperative robot at home and abroad, this paper presents a control system of cooperative robot based on high speed RS485 bus. The control system consists of three parts: controller, body sensorimeter and servo drive unit. The controller uses arm FPGA hardware architecture, using iMX6 based on ARM9 kernel as main control chip, running real-time Linux operating system inside, is responsible for teaching program analysis, multi-task scheduling, motion algorithm realization, supporting various communication interfaces. FPGA uses EP4CE22F17 chip. Responsible for synchronous output of joint motor control pulse and encoder feedback signal processing. Using STM32F103 as the main control, the body sensorist detects the spatial posture of the teacher through the inertial sensor LSM9DS1, so as to realize the somatosensory operation to obtain the teaching point, with input and output components such as LCD screen, keyboard, function switch, etc. Realize the user's control signal input and the controller's prompt information output. In order to meet the lightweight requirement of cooperative robot, the servo drive unit, joint motor and encoder are designed by modularization. The servo drive unit takes STM32F405 as the main control chip, and receives the control commands from the controller through the high-speed RS45 bus. The motor driving signal is generated and the encoder information and the current voltage and vibration information collected by the sensor are fed back to the controller. Finally, after completing the hardware circuit design and testing, the whole control system is demonstrated with a 7 DOF light manipulator as the test platform. The results show that the robot control system has strong interaction, simple operation, good stability and reliability.
【学位授予单位】：北方工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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