基于模块化示教的精密码垛机器人控制系统

目的为了实现码垛机器人的实时快速控制,设计一种模块化示教的码垛机器人控制系统。方法以1802芯片为核心开发嵌入式模块示教系统,以QT为工具开发上位机模块示教系统,使用示教系统可以快速设定码垛机器人的路线和精度,通过wifi或串口模块把示教信号传输到码垛机器人控制系统中,控制系统利用高速脉冲驱动电路和闭环控制定位程序,使码垛机器人按照示教信息快速精准地搬运货物,点对点搬运实验表明,系统定位精度可以达到0.3 mm,旋转误差在0.1°内。结果机器人水平定位的最大相对误差为0.45%,旋转角度的最大误差为0.83%。结论实验证明,码垛机器人控制系统可以根据用户需求快速完成搬运。

Control System of Precision Palletizing Robot Based on Modular Teaching

The work aims to design a modular teaching palletizing robot control system in order to realize real-time and fast control of palletizing robot. The teaching system of embedded module was developed with 1802 chip as the core. The upper computer modular teaching system was developed with QT tool and used to fast set the route and accuracy of palletizing robot. The teaching signal was transmitted to the control system of the palletizing robot by wifi or serial module. Utilizing high-speed pulse drive circuit and closed-loop control locating program, the control system ordered the robot to handle cargos in fast and precise means according to instructions. The point to point carrying experiment showed that the positioning precision of the system could reach 0.3 mm and the rotation error within 0.1 degrees. The maximum relative error for horizontal positioning of robot was 0.45% and the maximum error for rotation angle was 0.83%. The experiment proves that the system can meet the need of transportation quickly according to the user''s setting.