基于DSC焊接机器人控制器的设计  

Design of Controller for Welding Robot Based on DSC

作　　者：马国红[1] 杜保舟[1] 江芙蓉[1] 谢芬[1] 

机构地区：[1]南昌大学机电工程学院,江西南昌330031

出　　处：《热加工工艺》2012年第15期188-191,共4页Hot Working Technology

基　　金：国家自然科学基金项目(61165008);江西省自然科学基金项目(20114BAB206004);江西省教育厅项目(GJJ12038)

摘　　要：针对焊接机器人无线信息传输的控制系统,提出了一种以dsPIC30F5015数字信号控制器(DSC)为核心,并借助于步进电机集成驱动芯片TB6560的步进减速电机控制器的设计方法,给出了该系统设计的硬件电路图和软件流程图,同时对步进电机的运行精度进行了测试。测试结果显示,运行精度的绝对误差小于2%,相对误差小于0.1%,且焊接机器人运行平稳、噪声小,能够满足焊接机器人的焊接要求,实现了对焊接机器人焊接速度和方向的控制。Aiming at the welding robot＇s control system of wireless information transmission, a designing method of the stepper deceleration motor controller was proposed by using dsPIC30F5015 digital signal controller（DSC） as a core and the stepper motor integration driver chip TB6560. The hardware circuit diagram and software flow chart of the system was provided. The motion precision of stepper motor was tested. The results show that the absolute error of the motion precision is less than 2% and the relative error is less than 0.1%, and the welding robot motion is smooth and has low noise. The controller can satisfy the welding requirements of welding robot, and the control of welding robot＇s speed and direction is realized.

关 键 词：焊接机器人 DSC dsPIC30F5015 TB6560 

分 类 号：TG409[金属学及工艺—焊接]