CN102126220A

CN102126220A - Control system for six-degree-of-freedom mechanical arm of humanoid robot based on field bus

Info

Publication number: CN102126220A
Application number: CN2010100324534A
Authority: CN
Inventors: 姜重然; 史庆军; 陈文平; 徐斌山; 白金泉; 李丽; 薄向东
Original assignee: Jiamusi University
Current assignee: Jiamusi University
Priority date: 2010-01-12
Filing date: 2010-01-12
Publication date: 2011-07-20

Abstract

A control system of a humanoid robot mechanical arm belongs to the field of robot technology and automation, and specifically relates to a control system based on a fieldbus-based humanoid robot six-free mechanical arm. control. The invention includes three parts: a main computer (1), a field bus (2) and a servo unit (3). The main computer (1) completes the motion planning algorithm, and at the same time the main computer (1) will also communicate with each servo unit (3) through the field bus (2), and each servo unit (3) drives each joint of the humanoid robot mechanical arm 1-3 1-2 coordinated movements to achieve the desired posture. The invention has good control real-time performance, accurate motion control, simple and high-efficiency circuit, strong anti-interference ability, few cables, convenient application and low cost.

Description

A kind of control system based on fieldbus anthropomorphic robot six free mechanical arms

Affiliated technical field

The invention belongs to Robotics and automatic field, relate to the control system of robot arm, particularly a kind of control method and system based on fieldbus anthropomorphic robot six degree of freedom mechanical arm.

Background technology

Anthropomorphic robot is and the immediate a kind of robot of the mankind; it is compared with traditional caterpillar robot or wheeled robot; more can adapt to human surroundings; be more convenient for using the various tool of inventing design as the mankind simultaneously; imitate human various actions action; therefore, anthropomorphic robot has vast potential for future development.

At present, people still mainly concentrate on effective more, the reliable stability control method of exploration for the research of anthropomorphic robot, in these researchs, the arm of anthropomorphic robot and hand contacts stressed position as coordination in the robot action with extraneous, just become the key point of coordination and action stability in the action of solution anthropomorphic robot.In the action of some complexity, during such as the broadsword play of wushu, sword-play, Taiji push hands, nautch, running, its arm attitude is with regard to particular importance, and the six degree of freedom mechanical arm can satisfy the elemental motion and the attitude of human arm, and six freely is 2 of shoulders, 1 of ancon, 3 of wrists.

The control method of anthropomorphic robot mechanical arm adopted the centralized Control method in the past.At present, the control method of anthropomorphic robot mechanical arm adopts according to the anthropomorphic robot size and concentrates or distributed control method, owing to select for use control method and system there are differences, its effect is also different.

Summary of the invention

Finish in the complicated action at the large-scale anthropomorphic robot mechanical arm of solution, for system height real-time, fault-tolerance, reliability, extendibility, the present invention proposes a kind of control system 1-1 based on fieldbus anthropomorphic robot six free mechanical arms, and described technical scheme is as follows:

A kind of control system 1-1 based on fieldbus anthropomorphic robot six free mechanical arms, described system comprises: master computer (1), fieldbus (2), servo unit (3).

Described master computer (1) is finished the motion planning algorithm, and master computer (1) also will be communicated by letter with each servo unit (3) by fieldbus (2) simultaneously, and each servo unit (3) drives the coordinated movement of various economic factors of each joint 1-2 of anthropomorphic robot mechanical arm 1-3.Described fieldbus (2) is selected CAN fieldbus (2) for use, the CAN bus is a kind of fieldbus (fieldbus), the direct communication distance can reach 10km farthest, below the speed 5Kbps, traffic rate reaches as high as 1MbPs, and communication distance is the longest at this moment is 40m, and node can reach 110 at present, communication media can be twisted-pair feeder, coaxial cable or optical fiber, and CAN fieldbus (2) is finished master computer (1) and communicated by letter with each servo unit (3).Each joint 1-2 motion of described servo unit driving device arm 1-3.

Described servo unit comprises that controller 2-1, driver 2-2, motor 2-3, detection and feedback circuit 2-4, decelerator 2-5 form.Driver 2-2 selects the JW-144-2 of TITECH for use, what motor 2-3 shoulder and ancon were selected for use is the RE series electrographite brush direct current generator of Switzerland MAXON company, model is RE3024V 60W, what wrist was selected for use also is the RE series electrographite brush direct current generator of Switzerland MAXON company, model is RE3024V 20W, what select for use from motor 2-3 repacking survey and feedback device is optical electric axial angle encoder, and detecting what select for use with feedback device from decelerator 2-5 is potentiometer, and what decelerator 2-5 selected for use is harmonic speed reducer.

Described controller 2-1 comprises CAN bus circuit 3-1, single-chip microcomputer 3-2, D/A change-over circuit 3-3.That single-chip microcomputer 3-2 selects for use is AT89C51CC01, and AT89C51CC01 itself has the CAN bus control unit by oneself, so do not need to add the CAN bus control unit, it is DAC7621 that D/A change-over circuit 3-3 selects D/A converter for use.

Described CAN bus circuit 3-1 comprises photoelectrical coupler 4-1, CAN bus transceiver 4-2, anti-lightning strike pipe 4-3, resistance R 1, resistance R 2, resistance R 3, resistance R 4, capacitor C 1, capacitor C 2.Photoelectrical coupler 4-1 selects for use high speed photo coupling to isolate the 6N137 chip, at this with 2 6N137 chips, the TXDC pin of single-chip microcomputer 3-2 is connected with a slice 6N137 chip I N pin by resistance R 1, the RXDC pin of single-chip microcomputer 3-2 is connected with another sheet 6N137 chip OUT pin, CAN bus transceiver 4-2 selects the TJA1050 chip for use, a slice 6N137 chip OUT pin connects TJA1050 chip pin TXD, another sheet 6N137 chip I N pin connects TJA1050 chip pin RXD by resistance R 2, the CANH pin of TJA1050 chip is by resistance R 3, capacitor C 1, anti-lightning strike pipe 4-3 links to each other with the CAN bus node, and the CANL pin of TJA1050 chip is by resistance R 4, capacitor C 2, anti-lightning strike pipe 4-3 links to each other with the CAN bus node.

The invention has the beneficial effects as follows:

1. the control real-time performance is good, and motion control is accurate.

2. circuit is simply efficient, and antijamming capability is strong.

3. cable is few, is convenient to use, and cost is low.

Description of drawings

Fig. 1 is system of the present invention and course of work schematic diagram.

Fig. 2 is a servo unit structural representation of the present invention.

Fig. 3 is a controller architecture schematic diagram of the present invention.

Fig. 4 is a CAN bus circuit structure chart of the present invention.

The specific embodiment

The present invention is described in more detail with concrete enforcement below in conjunction with accompanying drawing.

The first step: as shown in Figure 1, when anthropomorphic robot mechanical arm 1-3 need make certain attitude, master computer (1) is finished the motion planning algorithm according to the attitude of each current joint 1-2 and the attitude of next step each joint 1-2, and master computer (1) is sent to corresponding each servo unit (3) to the result of motion planning algorithm by fieldbus (2).

Second step: as shown in Figure 2, the controller 2-1 of corresponding each servo unit (3) is according to the result of motion planning algorithm and the certain control algolithm controller 2-1 output voltage signal of result's process of detection and feedback circuit 2-4, the output of the voltage signal control driver 2-2 of output, the output control motor 2-3 of driver 2-2 rotates, the rotating drive decelerator 2-5 of motor 2-3 rotates, rotate in the rotating drive joint 3 of decelerator 2-5,2-3 rotates at driver 2-2 control motor, motor 2-3 drives decelerator 2-5 to be changeed, when decelerator 2-5 drives joint 3 rotations, signal that detects from motor 2-3 axle optical electric axial angle encoder and the signal feedback that detects from decelerator 2-5 potentiometer are to controller 2-1, repeat said process again, reach the position of expection until joint 1-2, mechanical arm 1-3 need make the attitude of expection.

The 3rd step: as shown in Figure 1, the controller 2-1 of corresponding each servo unit (3) sends to master computer (1) to the posture position of each joint 1-2, simultaneously the next attitude of preparing machine arm 1-3.

Claims

1. a control system 1-1 based on field bus humanoid robot six free mechanical arms, is characterized in that: comprise host computer (1), field bus (2) and servo unit (3) three parts. The main computer (1) completes the motion planning algorithm, and at the same time the main computer (1) will also communicate with each servo unit (3) through the field bus (2), and each servo unit (3) drives each joint of the humanoid robot mechanical arm 1-3 1-2 coordinated movement.

2. the control method and system based on the field bus humanoid robot mechanical arm as claimed in claim 1, is characterized in that: described servo unit (3) comprises controller 2-1, driver 2-2, motor 2- 3. The detection and feedback circuit is composed of 2-4 and reducer 2-5. Driver 2-2 uses TITECH’s JW-144-2, motor 2-3 shoulders and elbows use RE series graphite brush DC motors from Swiss MAXON Company, model RE3024V 60W, and wrists also use Swiss MAXON Company The RE series graphite brush DC motor, the model is RE3024V 20W, the photoelectric shaft angle encoder is selected from the 2-3 axis detection and feedback device of the motor, and the potentiometer is selected from the 2-5 detection and feedback device of the reducer. What the device 2-5 chooses is the harmonic reducer.

3. servo unit (3) as claimed in claim 2, is characterized in that: the controller 2-1 of described servo unit (3) comprises CAN bus circuit 3-1, single-chip microcomputer 3-2, D/A conversion circuit 3-3. What single-chip microcomputer 3-2 selects is AT89C51CC01, and AT89C51CC01 itself has its own CAN bus controller, so it does not need to add CAN bus controller, and D/A conversion circuit 3-3 selects D/A converter to be DAC7621.

4. controller 2-1 as claimed in claim 3, is characterized in that: the CAN bus circuit 3-1 of described controller 2-1 comprises optocoupler 4-1, CAN bus transceiver 4-2, Lightning protection tube 4-3, resistor R1, resistor R2, resistor R3, resistor R4, capacitor C1, capacitor C2. The optocoupler 4-1 selects a high-speed optocoupler isolation 6N137 chip. Here, two 6N137 chips are used. The TXDC pin of the single-chip microcomputer 3-2 is connected to the IN pin of a 6N137 chip through the resistor R1. The RXDC pin of the single-chip microcomputer 3-2 Connect with the OUT pin of another 6N137 chip, the CAN bus transceiver 4-2 uses the TJA1050 chip, the OUT pin of one 6N137 chip is connected to the TJA1050 chip pin TXD, and the other 6N137 chip IN pin is connected to the TJA1050 chip pin RXD through the resistor R2 , the CANH pin of the TJA1050 chip is connected to the CAN bus node through the resistor R3, the capacitor C1, and the lightning protection tube 4-3, and the CANL pin of the TJA1050 chip is connected to the CAN bus node through the resistor R4, the capacitor C2, and the lightning protection tube 4-3. Nodes are connected.