基于X86平台和RSI的工业机器人步态自动控制系统设计  

Design of Gait Automatic Control System for IndustrialRobots Based on X86 Platform and RSI

作　　者：孙文革[1] SUN Wenge(School of Mechanical and Electronic Engineering,XinJiang Vocational University,Urumqi 830000,China)

机构地区：[1]新疆职业大学机械电子工程学院,乌鲁木齐830000

出　　处：《计算机测量与控制》2024年第5期122-128,共7页Computer Measurement &Control

摘　　要：工业环境中的任务和工作场景是动态变化的,机器人需要能够根据环境的变化调整步态,以满足新的任务需求;为此,设计基于X86平台和机器人传感器接口(RSI,robot sensor interface)的工业机器人步态自动控制系统;以复杂指令集计算机为基础的X86架构设计机器人控制器主板,使系统具有高集成度和扩展性;利用超声波传感器和红外线传感器获取步态自动控制传感信号;使用基于AS5040型高精密非接触磁性转动编码器的步态关节控制器,通过总线扩展,定位关节运动方向;分析机械臂前后摆动步态规划轨迹,控制髋关节;使用RSI应用程序包控制点位运动,实现步态自动控制;实验结果表明,设计系统的膝关节x方向与实际轨迹只存在最大为20 mm的误差,y方向与实际轨迹一致;髋关节x方向与实际轨迹只存在最大为20 mm的误差,y方向与实际轨迹只存在最大为15 mm的误差,能够提高控制精度,控制效果较好。There are dynamic and changing tasks and work scenarios in industrial environments,robots need to adjust their gait according to environmental changes,and meet the requirements of new tasks.To achieve this,an industrial robot gait automatic control system based on X86 platform and robot sensor interface(RSI)is designed.The robot controller board is designed based on X86 architecture of computer with complex instruction set,which enables the system to have high integration and scalability.The ultrasonic sensors and infrared sensors are used to acquire the automatic gait control sensing signals,and adopt the gait joint controller based on the high-precision non-contact magnetic rotary encoder of AS5040,it locates the direction of joint motion through the bus extension.The gait planning trajectory of mechanical arm is analyzed to control the hip joint.The RSI application package is used to control the point-based motion and achieve gait automatic control.The experimental results show that compared with the actual trajectory of the hip joint,the maximum error of the designed system is only 20 mm of x-direction and consistent with that of the y-direction during the grapping time of 12 s;The maximum error in the x-direction is only 20 mm,and that of the y-direction only 15 mm during the grapping time of 4 s to 22 s,which can improve the control accuracy and achieve better control results.

关 键 词：X86平台 RSI 工业机器人 步态自动控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]