本文選題：協(xié)作機(jī)器人 + 體感示教�。� 參考：《北方工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著工業(yè)機(jī)器人技術(shù)的不斷革新,工業(yè)機(jī)器人和人類(lèi)操作者間的直接物理交互已經(jīng)引起了科研工作者的極大興趣,并催生了大量關(guān)于人機(jī)協(xié)作的技術(shù)創(chuàng)新。允許人與機(jī)器人近距離合作能夠在諸多領(lǐng)域中提高人與機(jī)器人雙方的工作效率,并且這種協(xié)作模式在小件裝配應(yīng)用中極具優(yōu)勢(shì),人機(jī)協(xié)作被視為由人工裝配到無(wú)人工廠(chǎng)的最佳過(guò)渡方案。對(duì)協(xié)作機(jī)器人控制系統(tǒng)進(jìn)行研究能夠很好的助力我國(guó)實(shí)現(xiàn)工業(yè)自動(dòng)化和智能化的發(fā)展目標(biāo)。本課題在分析研究國(guó)內(nèi)外協(xié)作機(jī)器人的最新成果的基礎(chǔ)上,提出基于高速RS485總線(xiàn)的協(xié)作機(jī)器人控制系統(tǒng),該控制系統(tǒng)由控制器、體感示教器和伺服驅(qū)動(dòng)單元三部分組成�？刂破鞑捎肁RM+FPGA的硬件架構(gòu),以基于A(yíng)RM9內(nèi)核的iMX6作為主控芯片,內(nèi)部運(yùn)行實(shí)時(shí)Linux操作系統(tǒng),負(fù)責(zé)示教程序解析、多任務(wù)調(diào)度、運(yùn)動(dòng)算法實(shí)現(xiàn),支持多種通信接口。FPGA采用EP4CE22F17芯片,負(fù)責(zé)關(guān)節(jié)電機(jī)控制脈沖的同步輸出及編碼器反饋信號(hào)處理。體感示教器以STM32F103為主控,通過(guò)慣性傳感器LSM9DS1檢測(cè)示教器空間姿態(tài),以實(shí)現(xiàn)體感操作獲取示教點(diǎn),配以液晶屏、鍵盤(pán)、功能開(kāi)關(guān)等輸入輸出組件,實(shí)現(xiàn)用戶(hù)的控制信號(hào)輸入及控制器的提示信息輸出。為滿(mǎn)足協(xié)作機(jī)器人的輕量化需求,將伺服驅(qū)動(dòng)單元與關(guān)節(jié)電機(jī)及編碼器進(jìn)行模塊化設(shè)計(jì),伺服驅(qū)動(dòng)單元以STM32F405為主控芯片,通過(guò)高速RS45總線(xiàn)接收來(lái)自控制器的控制命令,生成相應(yīng)電機(jī)驅(qū)動(dòng)信號(hào),并將編碼器信息及傳感器采集的電流、電壓和震動(dòng)信息反饋給控制器。最后,在完成硬件電路設(shè)計(jì)與測(cè)試之后,以7自由度輕型機(jī)械臂為測(cè)試平臺(tái),對(duì)整套控制系統(tǒng)進(jìn)行實(shí)例論證。結(jié)果表明,該機(jī)器人控制系統(tǒng)交互性強(qiáng)、操作簡(jiǎn)潔,具有較好的穩(wěn)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.
【學(xué)位授予單位】：北方工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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本文編號(hào)：2049243