【摘要】 由于机器人工作的复杂性日益增加,单个机器人的工作能力愈发显得不足,针对当前问题,提出将ARM微控制器与MCX514运动控制芯片相结合用于机器人-数控系统的协同运动控制。在硬件设计层面,以ARM微控制器与MCX514运动控制芯片为核心硬件,设计了芯片间的通信线路以及外围电路和接口。在软件设计层面,依托FreeRTOS嵌入式操作系统,采用多线程编程模式,由MCX514控制四自由度数控系统,ARM控制三轴的机械臂部分,利用握手式基坐标系标定方法实现机器人与数控系统的协同运动,并设计了配套的上位机程序。通过与ACR9000运动控制器的对比分析,证明所设计开发的控制器精度达到预期效果,具有一定的市场价值和应用前景。更多还原

【Abstract】 Due to the increasing complexity of robot’s work,the working ability of the single robot becomes more and more inadequate. To solve this problem,the method that combined ARM microcontroller( MCU) with MCX514 motion control chip is proposed for coordinated motion control of robot-Numerical Control( NC) system. At the hardware design level,the ARM MCU and MCX514 motion control chip were used as the core hardware,and the communication between the chips,peripheral circuits and interfaces were designed. At the software level,relying on FreeRTOS embedded operating system and adopting multi-threaded programming mode,the Four-Degree-of-Freedom( 4-Do F) NC system and the three-axis manipulator was controlled by MCX514 and ARM respectively. The method of base calibration using handshake mode was applied to achieve coordinated motion of robot and NC,and upper level matched program was designed. It is proved that the precision of the designed controller achieves the expected effect and has certain market value and application prospect when it is compared and analyzed with ACR9000 motion controller.更多还原