四轴码垛机器人控制系统的设计与实现
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摘要
通过对码垛机器人控制功能的分析,提出以微控制器STM32F103ZET6和ATMEGA2560为核心的机器人控制系统设计方案。该方案以STM32F103ZET6为主控芯片,为机器人提供任务规划、轨迹规划和插补控制;以ATMEGA2560为运动控制芯片,为机器人提供运动规划、运动学逆解、多轴联动控制,实现对四轴码垛机器人终端轨迹控制。方案采用模块化的设计理念实现机器人控制系统的设计,以嵌入式系统与运动控制固件作为控制器的核心,通过对主控芯片移植FreeRTOS实时操作系统,保证系统的实时性;通过运动控制芯片移植Marlin固件,完成运动控制算法。
Through the analysis of the control function of the stacking robot,the design scheme of the robot control system is proposed based on the microcontroller STM32 F103 ZET6 and ATMEGA2560. Using STM32 F103 ZET6 as the main control chip,the scheme provides task planning,trajectory planning and interpolation control for the robot. Using ATMEGA2560 as a motion control chip,the scheme provides motion planning,inverse kinematics and multi axis linkage control for the robot to control the terminal trajectory of the four axis palletizing robot. The design of robot control system is completed by modularized design concept,which takes the embedded system and the motion control firmware as the core of the controller. The Free RTOS real-time operating system is transplanted to the main control chip to ensure the real-time performance of the system. The motion control chip is used to transplant the Marlin firmware,and as a result,the motion control algorithm is completed.
Through the analysis of the control function of the stacking robot,the design scheme of the robot control system is proposed based on the microcontroller STM32 F103 ZET6 and ATMEGA2560. Using STM32 F103 ZET6 as the main control chip,the scheme provides task planning,trajectory planning and interpolation control for the robot. Using ATMEGA2560 as a motion control chip,the scheme provides motion planning,inverse kinematics and multi axis linkage control for the robot to control the terminal trajectory of the four axis palletizing robot. The design of robot control system is completed by modularized design concept,which takes the embedded system and the motion control firmware as the core of the controller. The Free RTOS real-time operating system is transplanted to the main control chip to ensure the real-time performance of the system. The motion control chip is used to transplant the Marlin firmware,and as a result,the motion control algorithm is completed.
引文
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[3]蔡汉明,钱永恒.Dobot型机器人运动学分析与仿真[J].机电工程,2016,33(10):1217-1220.
[4]王占军.工业码垛机器人机械结构与控制系统的研究[D].淄博:山东理工大学,2015.
[5]张建中,郝允梁,刘海洋,等.基于STM32单片机的智能消防机器人的设计与应用[J].电子技术应用,2017,43(11):120-123.
[6]廖平,韩伟伟.基于STM32多步进电机驱动控制系统设计[J].仪表技术与传感器,2016(4):71-73.
[7]李玲娟.多细分二相混合式步进电机驱动器的研制[D].西安:西北工业大学,2007.
[8]HUANG Y,HAN J.Analysis and design for the second order nonlinear continuous extended states observer[J].Chinese Science Bulletin,2000,45(21):1938-1944.
[9]孙书鹰,陈志佳,寇超.新一代嵌入式微处理器STM32F103开发应用[J].微计算机应用,2010,31(12):59-63.