基于EtherCAT总线的拖动示教机器人控制系统开发  

Development of Control System for Drag Teaching Robot Based on EtherCAT Bus

作　　者：陈宇鹏 高伟强[1,2] 刘建群[1,2] 陈乐南 卢一光 CHEN Yupeng;GAO Weiqiang;LIU Jianqun;CHEN Lenan;LU Yiguang(School of Electromechanical Engineering,Guangdong University of Technology,Guangzhou 510006,Guangdong,China;Guangdong Provincial Key Laboratory for Micro/Nano Manufacturing Technology and Equipment,Guangdong University of Technology,Guangzhou 510006,Guangdong,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006 [2]广东工业大学广东省微纳加工技术与装备重点实验室,广东广州510006

出　　处：《电气传动》2021年第21期59-65,71,共8页Electric Drive

基　　金：广东省重点实验室项目(2017B030314178);广东省联合培养研究生示范基地项目(2017XJJD-06)。

摘　　要：针对拖动示教喷涂机器人的示教数据直接用于再现喷涂时存在轨迹不平滑与速度抖动的问题,研究开发了一套示教喷涂机器人的控制系统。阐述了机器人控制系统的总体架构,构建了基于工控PC机与以AM4377为EtherCAT主站的硬件平台,并以工控PC机为上位机,在Windows系统中开发了控制系统的人机交互、示教数据的拟合优化算法、示教轨迹粗插补以及喷枪位姿同步等软件模块,同时以EtherCAT主站为下位机,采用“Linux+Xenomai”的双系统架构,实现了指令传输与处理、示教采样、示教轨迹精插补、EtherCAT主站通讯等功能。最后在某企业进行了喷涂实验,结果表明,采用该系统的喷涂机器人运动平稳,达到了喷涂加工的要求。Aiming at the problem of unsmooth track and velocity jitter when the teaching data of the drag teaching spraying robot is directly used to reproduce,the control system for teaching spraying robot was developed.The overall architecture of the robot control system was elaborated,and the hardware platform based on industrial PC and AM4377 as the EtherCAT master station was constructed.Taking industrial PC as the host computer,software modules such as human-computer interaction of the control system,fitting optimization algorithm of teaching data,rough interpolation of teaching trajectory,and synchronization of spraying gun posture were developed in the Windows system.Taking the EtherCAT master as the lower computer,and adopting the dual system architecture of"Linux+Xenomai",the functions of instruction transmission and processing,teaching sampling,fine interpolation of teaching trajectory,and EtherCAT master communication were realized.Finally,spraying experiments were carried out in the enterprise,and the results show that the spraying robot using this system moves smoothly and meets the requirements of spraying processing.

关 键 词：喷涂机器人 示教数据优化 EtherCAT总线 Xenomai实时核 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]