轻工包装机器人专用运动控制系统设计
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摘要
分析轻工包装机器人运动控制系统的特点,提出一种低成本、高性能的专用运动控制系统,并进行了软硬件分析与设计。系统采用Cortex-M4内核的STM32F407为主CPU,运动控制芯片PCL6045BL为从CPU的主从CPU结构,将Cortex-M4在人机界面,通信接口与运动控制规划上的优势与PCL6045BL高控制精度的优点相结合。软件上通过移植μC/OS-II与μC/GUI实现实时系统运行与人机交互,编写相应的应用程序实现对机器人的控制,最后通过插补实验对机器人控制系统进行验证。
With the use of the light packaging robots in the pipeline,the development of the dedicated motion control system has the important significance. In this paper,a dedicated motion control system with low cost and good performance is proposed after the analysis of the features of light packaging robot motion control systems,and the hardware and software are analyzed and designed. The system uses the core STM32F407 of Cortex-M4 as the master CPU,and the motion control chip PCL6045 BL as slave CPU,to combine the Cortex-M4 which has the advantages in the man-machine interface,communication interface and motion control programs strengths and the PCL6045 BLcontrol which has the high precision. The real-time system operation and human-computer interation can be achieved by transplanting the μC / OS-II and μC / GUI,the robot control can be achieved by writting appropriate programs. The performance of the motion control system can be verified by experiments.
With the use of the light packaging robots in the pipeline,the development of the dedicated motion control system has the important significance. In this paper,a dedicated motion control system with low cost and good performance is proposed after the analysis of the features of light packaging robot motion control systems,and the hardware and software are analyzed and designed. The system uses the core STM32F407 of Cortex-M4 as the master CPU,and the motion control chip PCL6045 BL as slave CPU,to combine the Cortex-M4 which has the advantages in the man-machine interface,communication interface and motion control programs strengths and the PCL6045 BLcontrol which has the high precision. The real-time system operation and human-computer interation can be achieved by transplanting the μC / OS-II and μC / GUI,the robot control can be achieved by writting appropriate programs. The performance of the motion control system can be verified by experiments.
引文
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[2]Executive Summary.Executive Summary WR 2013[EB/OL].(2013-08-12)[2014-09-20].http://www.worldrobotics.org/uploads/media/
[3]张玫.机器人技术[M].北京:机械工业出版社,2011.
[4]谢广明,范瑞峰,何宸光,等.机器人控制与应用[M].哈尔滨:哈尔滨工程大学出版社,2013.
[5]Aryania A,Daniel B,Thomessen T,et al.New trends in industrial robot controller user interfaces[C]//2012 IEEE 3rd International Conference on Cognitive Infocommunications.Kosice,Slovakia:IEEE,2012:365-369.
[6]Soga S,Kobayashi I.A study on the efficiency of learning a robot controller in various environments[J].Adapative Dynamic Programming and Reinforcement Learning,2013(4):164-169.
[7]Parker C A C,Croft E A.Design and personalization of a cooperative carrying robot controller[C]//2012 IEEE International Conference on Robotics and Automation.Saint Paul,MN:IEEE,2012:3916-3921
[8]Ganesh G,Albu-Schffer A,Haruno M,et al.Biomimetic motor behavior for simultaneous adaptation of force,impedance and trajectory in interaction tasks[C]//Proceedings of IEEE International Conference on Robotics and Automation.Anchorage,Alaska:IEEE,2010:2705-2711.
[9]刘进长,王伟,区和坚.市场“井喷”带来的机遇与挑战—我国工业机器人发展的思考与建议[J].机器人技术和应用,2014(1):14-18.LIU Jinchang,WANG Wei,OU Hejian.Market"blowout"opportunities and challenges-thoughts and suggestions of development of industrial robots[J].Robotics and Applications,2014(1):14-18.(in Chinese)
[10]廖义奎.ARM Cortex-M4嵌入式实战开发精解—基于STM32F4[M].北京:北京航空航天大学出版社,2013.
[11]叶佩青,张辉.PCL6045B运动控制与数控应用[M].北京:清华大学出版社,2007.
[12]邵贝贝.嵌入式实时操作系统μC/OS-Ⅱ[M].北京:北京航空航天大学出版社,2003.
[13]王兰英.基于STM32嵌入式系统的μCGUI移植与实现[J].四川理工学院学报:自然科学版,2012,25(1):56-58.WANG Lanying.Porting and implementation ofμc GUI based on STM32 embedded system[J].Journal of Sichuan University of Science and Engineering:Natural Science Editton,2012,25(1):56-58.(in Chinese)