基于DSP和FPGA的四关节实验室机器人控制器的研制

【作者】 毛春利；

【导师】 周国荣；

【作者基本信息】 中南大学 ， 控制理论与控制工程， 2005， 硕士

【摘要】 在机器人学的研究领域中,如何有效地提高机器人控制系统的控制性能始终是研究学者十分关注的一个重要内容。在分析了工业机器人的发展历程和机器人控制系统的研究现状后,本论文的主要目标是针对四关节实验室机器人特有的机械结构和数学模型,建立一个新型全数字的基于DSP和FPGA的机器人位置伺服控制系统的软、硬件平台,实现对四关节实验室机器人的精确控制。 本论文从实际情况出发,首先分析了所研究的四关节实验室机器人的本体结构,并对其抽象简化得到了它的运动学数学模型。在明确了实现机器人精确位置伺服控制的控制原理后,我们对机器人控制系统的诸多可行性方案进行了充分论证,并最终决定采用了三级CPU控制的控制体系结构:第一级CPU为上位计算机,它实现对机器人的系统管理、协调控制以及完成机器人实时轨迹规划等控制算法的运算;第二级CPU为高性能的DSP处理器,它辅之以具有高速并行处理能力的FPGA芯片,实现了对机器人多个关节的高速并行驱动;第三级CPU为交流伺服驱动处理器,它实现了机器人关节伺服电机的精确三闭环误差驱动控制,以及电机的故障诊断和自动保护等功能。此外,我们采用比普通UART速度快得多的USB来实现上位计算机与下位控制器之间的数据通信,这样既保证了两者之间连接方便,又有效的提高了控制系统的通信速度和可靠性。 机器人系统的软件设计包括两个部分:一是采用VC++实现的上位监控软件系统,它主要负责机器人实时轨迹规划等控制算法的运算,同时完成用户与机器人系统之间的信息交互;二是采用C语言实现的下位DSP控制程序,它主要负责接收上位监控系统或者下位控制箱发送的控制信号,实现对机器人的实时驱动,同时还能够实时的向上位监控系统或者下位控制箱反馈机器人的当前状态信息。 研究开发出来的四关节实验室机器人控制器具有控制实时性好、定位精度高、运行稳定可靠的特点,它允许用户通过上位控制计算机实现对机器人的各种设定作业的控制,也可以让用户通过机器人控制箱现场对机器人进行回零、示教等各项操作。更多还原

【Abstract】 In robot research area, how effectively enhances the robot control system’s control performance is always an important content which the scholars pay much attention to. After has analyzed the industry robot’s development and the robot controller’s present research situation, this article essentially targets establishing a new entirely digital robot position servo-control system based on the DSP and FPGA for the unique four joints laboratory robot, which possesses its own hardware and software control platform.This paper embarks upon the actual situation, firstly analyzes the four joints laboratory robot’s body structure, then obtains its kinematics model. We studied and compared many feasible robot control system plans after has clearly realized the robot exact location servo-control theory, and finally decided to adopt the three-stage CPU control system structure: On the first stage is the personal computer, It realizes the administration, the co-control of the robot system as well as completes the robot’s real-time path plan by using advanced control algorithm; The DSP processor of high performance is on the second stage, assisted by the ability of high speed and parallel processing of the FPGA chip, it makes the robot’s four joints rotate parallel with high speed; On the third stage is the AC servo drivers, they make the robot’s joint servo motors precisely controlled by the three closed loops controller, As well as carry out the functions of fault diagnosis and self-protection in motors. In addition, the PC and the DSP processor communicates with each other through USB port which has much quicker communication speed than UART port. The USB communication mode not only guarantees the communication’s convenience, but also effectively enhances the control system’s real time and reliability.Robot control system software design including two parts: The first part is the VC++ programme for realizing the robot control algorithm and the interaction between the user and the robot system in real-time; The another part is the C language programme on DSP who realizes the function of driving the robot motor by getting commands from PC orfrom the robot control box, and the function of feeding back robot’s real-time location and status information.According to the above design, we worked out the robot control system and found it has a very good real time property, high position precision, stability and reliability. It allows the user to control the robot not only by operating on the PC, but also by using the robot control box of the robot.更多还原