基于ARM嵌入式机器人控制系统的研究与设计  

Research and Design of Control System of ARM Embedded Robot

作　　者：宫小飞 陈富林[1] 冯帅 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械与电子》2017年第12期72-76,共5页Machinery & Electronics

摘　　要：码垛机器人的研究对于提高效率和节省成本等有着十分重要的意义。基于码垛机器人的功能需求和原理分析,对基于ARM的码垛机器人控制系统进行了详细的研究设计。首先基于Cortex-M3内核的微控制器和扩展的外围设备,搭建控制系统的硬件平台;以μC/OS-II为软件的搭建核心;同时基于μCGUI设计人机交互界面。其次采用分层次的思想,设计和开发了控制系统的软件架构,将代码封装为三个层,依次为驱动层、任务管理层和运动控制层。其中运动控制层加入了加减速算法并对轨迹进行规划。最后对所设计的控制系统进行试验验证,分别单独测试了通讯功能、零点复位功能和自动运行功能,并对物料进行实体搬运,经测试该机器人重复定位精度较高,能够实现平稳安全的控制。The research of palletizing robot is of great significance to increase the efficiency and save the cost.Based on the analysis of functional requirements and basic principles of palletizing robot,this paper studies in detail the control system of ARM embedded robot.Firstly,the hardware platform for the control system was built by using Cortex-M3 kernelled microcontroller and the extended peripheral equipment while the core software used wasμC/OS-II.In addition,the human-computer interacting interface was designed based onμCGUI.Secondly,the software architecture of the control system was designed and developed hierarchically,in which,there are three layers of packed codes,the driving layer,the task management layer and the motion control layer.Specially,the acceleration and deceleration algorithm were added to the motion control layer to program the trajectory.Finally,the functions of the control system,which are communication function,zero-point reset function,and automatic moving function,were tested respectively.In addition,the robot was used to move some real objects.The results show that the robot has a high accuracy in repeat positioning and can be controlled smoothly and safely.

关 键 词：码垛机器人 控制系统 ΜC/OSII ARM 

分 类 号：TH6[机械工程—机械制造及自动化]