基于FreeRTOS的桶装水搬运机器人控制系统研究  

Research on the Control System of Bucket Handling Water Robot Based on FreeRTOS

作　　者：何高清[1] 贾辰昊 彭良霖 HE Gaoqing;JIA Chenhao;PENG Lianglin(College of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学机械工程学院,合肥230009

出　　处：《机械工程师》2024年第1期10-14,共5页Mechanical Engineer

基　　金：国核电站运行服务技术有限公司资助项目(W2021JSKF0327)。

摘　　要：针对工业机器人运动控制装置二次开发难度大、专业应用性差,设计一款以STM32F4系列单片机为核心,基于FreeRTOS操作系统的桶装水搬运机器人的控制系统。根据现场总线、实时操作要求、伺服控制方式等要素,设计运动控制器硬件和控制系统软件的整体方案;根据最短任务时间调度设计优化FreeRTOS操作系统任务调度算法;根据机器人结构、桶装水搬运路径和码垛方式,通过分析常用行进轨迹算法,优化5次多项式的轨迹方程,并通过MATLAB进行仿真,验证轨迹算法的准确性,对于工业搬运机器人系统设计具有一定参考意义。Aiming at the difficulty of secondary development of industrial robot motion control device and poor professional application,this paper designs a control system of barreled water handling robot based on FreeRTOS operating system with STM32F4 series single-chip microcomputer as the core.According to the field bus,real-time operation requirements,servo control mode and other elements,the overall scheme of motion controller hardware and control system software is designed.The task scheduling algorithm of FreeRTOS operating system is designed and optimized according to the shortest task time scheduling.According to the robot structure,barreled water transport path and stacking mode,the trajectory equation of the quintic polynomial is optimized by analyzing the common travel trajectory algorithm,and the accuracy of the trajectory algorithm is verified through MATLAB simulation,which has certain reference significance for the design of industrial transport robot system.

关 键 词：FREERTOS STM32 任务调度算法 轨迹规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]