摘要
采用双闭环控制系统,基于PLC运动控制器和CAN总线,提出了一种新的采摘机器人机械手关节分布式控制方案,并采用模块化思想设计了机器人关节电机控制系统、CAN模块及PLC控制器。采摘机器人机械手的关节采用谐波减速器进行调节,利用霍尔传感器和红外线传感器及光电编码器进行图像、转速和障碍物触碰的信号采集,采集信号利用A/D转换器将数据传输给PLC控制器。机械手的执行末端采用CAN总线控制,并利用变频器传递的通信信号,实现了末端执行器的并行控制,使多机械手处于最佳动作状态。最后,在双闭环控制方案的基础上加入了前馈控制环境,利用前馈控制环节可以实现对系统的实时控制,改善了系统的静态性能,实现了机械手对实际采摘位置的有效追踪。实验和仿真模拟表明:位移时间曲线平滑无突变,表明机器人在运行过程中平稳、无振动,机器人工作的可靠性较高,对路径的追踪精度较高。
A new robot manipulator joint distributed control scheme is proposed based on the PLC motion controller and CAN BUS by using the double closed- loop control system. The robot joint motor control system CAN module and PLC controller are designed with the idea of modular design. The mechanical hand of the robot is used to adjust the joint of the robot hand. The signal acquisition is acquired by using the Holzer sensor and infrared sensor and the photoelectric encoder. The signal is acquired by the A / D converter and the signal is transmitted to the PLC controller. At the end of the manipulator,the CAN bus is used to control the communication signal,and the parallel control of the end effector is realized. At last,the feed forward control environment is added to the system based on the double closed- loop control scheme. The static performance of the system is improved. The results show that the robot is stable and reliable in operation.
出处
《农机化研究》
北大核心
2016年第12期242-246,共5页
Journal of Agricultural Mechanization Research
基金
四川省教育厅自然科学基金重点项目(14ZA0309)
