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串联机器人的多轴联动控制系统的设计与实现.docx
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串联机器人的多轴联动控制系统的设计与实现.docx
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摘要
工业机器人广泛应用于工业自动化领域,而我国的工业机器人技术相对落后,
机器人装备大多依赖进口。控制系统是机器人的核心部件,其功能强弱、性能优
劣直接影响机器人的最终性能。本文针对六轴机器人控制需求,参与设计了一套
多轴运动控制系统,并对机器人控制的若干关键技术展开研究。全文的主要内容
如下:
1) 基于机器人技术的研究现状,结合运动控制技术发展,对机器人运动控制
系统进行规划设计,提出了 ARM 芯片与运动控制芯片相结合的架构,并完成硬件
电路设计。
2) 根据需求,利用迪文串口屏设计出用户控制界面,并运动 DMA 通信,使
得通信更加高效。
3) 开展了直角坐标空间的机器人轨迹规划和速度控制技术的研究,设计了直
线和圆弧基本轨迹插补算法,并引入 S 型升降速算法,以改善机器人末端运动的
平稳性;分析研究了机器人的点位运动和连续轨迹控制,设计出关节空间中的线
性插值、PVT 插值和 B 样条插值算法,实现了机器人关节空间运动的快速平稳控
制。
4) 为提高位置控制系统的跟踪性能,以获得良好的轨迹控制精度,研究了位
置伺服控制算法。在 PID+前馈控制的基础上,针对机器人关节空间模型的非线性
和参数不确定,引入鲁棒性较强的模糊控制。通过理论分析和实验对比,最终选
用模糊 PID+速度前馈的控制策略,完成了单关节的位置控制,取得了良好的动态
跟踪性能和稳态精度。
关键词:机器人控制,多轴运动控制器,界面设计,位置控制,模糊 PID
ABSTRACT
Industrial robots have been widely used in industrial control automation. However,
industrial robot technology in our country is still with outdated technology, industries
equipped with robots mostly depend on imports. The control system is the core part of
robot. It has great effect on the performance of robot. In this paper, a set of motion
controller for multi-axis is researched and developed independently. And the paper
carried out research on some key technologies of robot control. The main content of the
full text is as follows:
Based on the domestic research of robot technology, combined with the motion
control technology development, Planning and design of the robot motion control
system has been made, and the paper has put forward control system with the
architecture of Arm chip and motion controlling chip. Then the hardware circuit is
completed.
This paper focuses on the special-purpose motion controller' design by analysising
of the requirements of robot motion control system. And the controlling system based
on μC/OS-II is tested.
Accoring to the need, a good user interface is desided. Since DMA is used. The
communication becomes better.
Position servo control algorithm has been studied to obtain high precision position
control function、industry high tracking performance and good trajectory control
accuracy. On the basis of PID + feed forward control introduced the stronger robustness
of fuzzy control, by the means of theoretical analysis and experimental verification,
fuzzy PID + speed feed-forward control strategy was finally choosed. The paper
completed a single joint position control experiment which has obtained the good effect
of both dynamic tracking and control accuracy.
Key words: Robot control, Motion controller, UI Design, Position control, Fuzzy PID
目录
摘要....................................................................................................................................I
ABSTRACT......................................................................................................................II
目录 .................................................................................................................................III
第一章 绪论 .....................................................................................................................1
1.1 机器人概述 ................................................................................................................1
1.2 国内外工业机器人的发展现状及趋势 ....................................................................1
1.2.1 工业机器人技术 ..............................................................................................1
1.2.2 工业机器人的运动控制系统的发展现状 ......................................................3
1.3 运动控制器发展趋势 ................................................................................................6
1.4 论文研究内容及组织结构 ........................................................................................7
第二章 运动控制器设计与硬件实现 .............................................................................9
2.1 运动控制器功能需求分析 ........................................................................................9
2.2 运动控制器总体架构设计 ......................................................................................10
2.3 运动控制器硬件设计 ..............................................................................................11
2.3.1 运动控制电路设计 ........................................................................................12
2.3.2 ARM 外围电路设计 .......................................................................................16
2.3.3 运动控制器可重构技术 ................................................................................19
2.3.4 应用程序调试 ................................................................................................20
2.4 本章小结 ..................................................................................................................22
第三章 运动控制器管理界面设计 ...............................................................................23
3.1 管理界面的屏幕简介 ..............................................................................................23
3.2 迪文串口屏开发简介 ..............................................................................................24
3.3 屏幕界面设计 ..........................................................................................................26
3.3.1 安全模式设定的界面 ....................................................................................26
3.3.2 系统设定界面 ................................................................................................27
3.4 μDMA 于控制系统的应用.......................................................................................30
3.4.1 μDMA 的简介.................................................................................................30
3.4.2 μDMA 的实现及优点.....................................................................................31
3.5 本章小结 ..................................................................................................................31
第四章 轨迹规划技术研究与实现 ...............................................................................32
4.1 机器人的运动控制技术 ..........................................................................................32
4.1.1 运动控制技术概述 ........................................................................................32
4.1.2 点位运动与连续轨迹控制 ............................................................................32
4.2 机器人运动学 ..........................................................................................................33
4.3 笛卡尔空间位置规划 ..............................................................................................35
4.3.1 空间直线插补规划 ........................................................................................35
4.3.2 空间圆弧插补规划 ........................................................................................36
4.4 工业机器人 S 型加减速控制研究 ........................................................................38
4.4.1 S 型加减速原理..............................................................................................39
4.4.2 S 型曲线控制算法..........................................................................................41
4.5 关节空间轨迹的控制 ..............................................................................................44
4.5.1 线性插值法 ....................................................................................................44
4.5.2 PVT 插值法.....................................................................................................47
4.5.3 B 样条插值法 .................................................................................................49
4.6 本章小结 ..................................................................................................................51
第五章 位置伺服控制算法研究 ...................................................................................52
5.1 PID 控制算法简介...................................................................................................52
5.1.1 算法原理 ........................................................................................................52
5.1.2 改进型 PID 算法............................................................................................53
5.2 前馈控制 ..................................................................................................................54
5.2.1 前馈控制原理 ................................................................................................54
5.2.2 复合控制方案 ................................................................................................55
5.3 模糊 PID 控制方法..................................................................................................56
5.3.1 模糊控制概述 ................................................................................................56
5.3.2 模糊 PID 控制器设计..................................................................................59
5.4 PID 控制于控制系统的实现....................................................................................61
5.5 本章小结 ..................................................................................................................62
第六章 总结与展望 .......................................................................................................63
6.1 全文总结 ..................................................................................................................63
6.2 研究展望 ..................................................................................................................63
致谢 .................................................................................................................................65
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