基于ARM的焊接机器人示教控制系统设计  

Design on Welding Robot Teaching Gontrol System Based on ARM

作　　者：陈海初[1] 谢昌安 张厚宝[1] 江民新 

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》2015年第19期179-182,共4页Hot Working Technology

基　　金：国家自然科学基金资助项目(51265034);江西省科技支撑计划项目(20112BB550017);江西省自然科学基金项目(20132BAB201040)

摘　　要：设计了一种基于ARM的焊接机器人示教控制系统,介绍了该控制系统的硬件电路组成与软件实现流程。以ARM11系列S3C6410为主控芯片,在该核心控制器上扩展了CAN2.0通讯接口以及RS232通讯接口,通过CAN2.0与步进电机控制器通讯实现XYZ-R轴运动控制。使用MFC智能设备应用程序创建相关按钮控件、编辑控件设计人机交互界面。控制系统的人机交互界面、操作界面简单实用。采用val语言制定再现编程指令,可对焊缝轨迹进行焊接示教。通过搭建焊接仿真实验平台,进行示教再现测试实验,证明该控制系统能满足复杂的焊缝轨迹的焊接,同时该操作系统操作简便,性能稳定。A welding robot teaching control system was designed based on ARM, the control system hardware circuit and software implementation process were introduced. Taking a series of ARM11 S3C6410 as main control chip. On the core controller, the CAN2.0 interface and RS232 interface were extended. Through the CAN2.0 communicate with stepper motor, the XYZ - R axis motion control was achieved. Using MFC application design intelligent equipment control system of the human-computer interaction interface, the interface was simple and practical. The interpolation algorithm for the control system was analyzed, combining with the motion control system, and the precision of the welding seam improved. By experiments and tests, the control system of teaching and reappearing can satisfy the complex trajectory of welding seam, and the operating system is easy to operate, and has stable performance.

关 键 词：开环控制系统 人机交互控制界面 仿真平台 示教再现 

分 类 号：TG409[金属学及工艺—焊接]