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1、六轴机械臂控制系统软硬件平台开发研究 软硬件 控制系统 机械 开发 研究六轴机械臂控制系统软硬件平台开发研究 本文关键词：软硬件，控制系统，机械，开发，研究六轴机械臂控制系统软硬件平台开发研究 本文简介：摘要伴随着工业机械臂在中小型加工制造企业的投入和使用，机械臂可以出色的完成重复性任务，显着地提升了工厂传统加工作业自动化水平，缩短了产品加工周期，有效地提高了工厂生产率及降低生产成本。因而，随着工业机械臂应用场景多样化的发展，苛刻的生产工况对机器人的体积、灵活度等方面提出了更高的要求。工业机六轴机械臂控制系统软硬件平台开发研究 本文内容：摘 要伴随着工业机械臂在中小型加工制造企业的投入和使用，
2、机械臂可以出色的完成重复性任务，显着地提升了工厂传统加工作业自动化水平，缩短了产品加工周期，有效地提高了工厂生产率及降低生产成本。因而，随着工业机械臂应用场景多样化的发展，苛刻的生产工况对机器人的体积、灵活度等方面提出了更高的要求。工业机械臂控制系统正朝着开放性、模块化的方向发展，设计适应多种环境、性价比高，满足中小型加工工厂需求的机械臂运动控制系统势在必行。本文的主要目的为通过建立的分层结构的机械臂控制系统软硬件平台，实现对工业机械臂的控制。主要的工作内容如下：（1）机械臂运动控制系统设计。系统采用PC+STM32二级控制体系结构，替代现有多核心架构，有效地降低研发成本，提高了系统结构稳定性
3、，能对不同应用类型的机械臂控制方案进行快速实现。上位机运行基于 Visual C+设计的上位机控制软件，实现了机械臂控制系统的运动控制、交互等功能。下位机为机器人控制器，采用 STM32微处理器作为机器人控制器的主控芯片，主要负责机器人的运动控制，其中通过 I/O接口向机器人伺服系统发送脉冲数量和频率，完成对机械臂伺服系统的控制，最终实现机器人关节联动控制。采用 PID 控制算法，用来处理给定位置信息和实际位置信息偏差，降低位置控制误差，最终实现机械臂的正常运转并完成简单的动作的控制。（2）机械臂运动规划算法与位置控制策略研究。本文提出了机械臂关节速度连续运动规划方案，通过引入神经动力学方法到
4、所提出的运动规划方案中，有效消除机械臂末端任务切换时关节速度跳变产生的位置误差，最后通过仿真验证所提运动规划方案的准确性。针对单轴机械臂伺服系统，设计了基于自适应反步法的机械臂伺服系统的位置控制策略，所设计的跟踪控制算法具有抗扰动性、快速性等优点，仿真验证其有效性。（3）完成对机械臂运动控制系统的联合调试和实验分析，所设计的控制系统能够实现机械臂本体的控制需求，控制性能良好。关键词： 工业机械臂；自动化；控制系统；运动规划；位置控制。AbstractWith the input and use of industrial robot manipulators in small and medi
5、um-sized manufacturing companies. The automation level of processing operations in traditional factories has been significantly improved. The production cycle of products has been short,and finally the purpose of improving factory productivity and reducing production costs hasbeen achieved. However,
6、 due to the diversified development of industrial robot manipulator application scenarios, the harsh production conditions put forward higher requirements on the robot size, flexibility and other aspects. At present, The industrial robot manipulator control system is developing in the direction of o
7、penness and modularization. It is imperative to design a robot manipulator control system with high adaptability and meeting the needs of small and medium-sized processing factories. The main purpose of this paper are to establish a layered structure of the robot manipulator control system software
8、and hardware platform, and realize the control of the industrial robot manipulator. The specific work contents are as follows:(1) Robot manipulator motion control system designed. This paper adopts the PC+STM32 hierarchical structure control system to replace the existing multi-core structure contro
9、l system, which caneffectively to reduce the research and development cost,improve the stability of the system structure, and it can realize the control of different typesof robot manipulator quickly. The PC adopts Visual C+ designed control software to realize the motion control, interaction and ot
10、her functions of the robot manipulator controlsystem, and it realizes the motion control, interaction and other functions of the robot manipulator control system. The slave system uses the STM32 microprocessor as the mainMCU of the robot controller, which is mainly responsible for the motion of the
11、robot. The number and frequency of pulses are sent to the robot servo system through the I/O interface to complete the control of the robot manipulator servo system, so as to realize the linkage control of the robot joints. The PID control algorithm is adopted to process the deviation from the given
12、 position information and the actual position information, so as to improve the position control accuracy, and finally realize the normal operation of the mechanical arm and complete the simple action control.(2) Research on robot manipulator motion planning algorithm and position control strategy.
13、In this paper, the robot manipulator joint velocity-continuity motion planningscheme is proposed. By introducing the neural-dynamic design method of the proposed robot motion planning scheme, the manipulator end-effectors positioning error caused bythe joint-velocity jumped when the robot manipulato
14、r task-shifting is effectively eliminated.Finally, the simulation verification is carried out, and the proposed motion planning scheme is accurate. For the single-degree-of-freedom manipulator servo system, the position control strategy of the manipulator servo system based on the adaptive backstepp
15、ing method is designed, and the designed tracking control algorithm has the advantages of anti-disturbance and rapidity, and its effectiveness is verified by simulation.(3) In this part, the joint debugging and experimental analysis of the manipulator motion control system is Completed. It can be se
16、en from the results of debugging andexperiment that the control system can realize the control of the robot manipulator and the control performance is good.Keywords: Industrial robotic manipulator; Automation; Control system; Motion planning; Position control。第一章 绪论1.1 引言。近年来，随着工业 4.0概念的不断深化，为了实现中国制造 2025 智能制造强国的战略目标，真正的实现祖国由制造大国向着制造强国的转变，机器人技术、智慧工厂为其提供了重要的依托和支撑13。伴随着机器人技术的蓬勃发展，不同类型、不同功能的工业机器人相继诞生，诸如码垛机器人、喷涂机器人、焊接机器人、
