工业机器人控制系统 嵌入式伺服控制器的设计.docVIP

摘要 随着科技的发展，机器人越来越广泛的应用于工业和生活。本课题是工业机器人遥操作控制系统设计之嵌入式伺服控制器的设计，通过对上位机命令和反馈信号的处理，实现对其进行有线遥控及运动轨迹的示教再现。 本设计主要由硬件设计和软件设计两方面组成。在硬件方面，微处理器采用TI公司的MSP430系列超低功耗的混合信号控制器MSP430F449，采用CAN总线与上位机通讯，并经过隔离放大信号实现对驱动器的控制并采集光电编码器反馈的信号。软件部分也主要包括主程序，总线通讯程序和自动控制程序等。 本设计综合了多方面的专业知识，利用嵌入式系统发展了机器人的控制性能，用硬件实现控制算法，同时完成任务的合理调度、实时控制和通信功能，促进机器人和工业的全面接轨。 关键词：工业机器人；控制器；嵌入式  ABSTRACT With the development of science and technology, robots are applied to industry and life more and more widely. This task is on the design of embedded servo controller of the teleoperation control system of a industrial robot. Through dealing with the command from the host microprocessor and the feedback signal, it realizes the wired remote control and the reoccurrence of the original orbit. The design mainly consists of two parts: hardware and software design. In terms of hardware, the ultra-low powered mixed signal controller MSP430 of the MSP430 series produced by TI Inc is chosen as the main microprocessor, CAN bus is used to communicate with the host microprocessor, for the goal of controlling the drive through isolating and amplifying the signal and collecting the feedback signal from the optical encoder. In terms of software, it consists of the main program, bus communication program, automatic control program and so on. This design combines a variety of professional knowledge, embedded system is used to develop the control performance of the robot, hardware is used to complete the control algorithm and all above is for dispatching the tasks reasonably, real-time controlling and communicating, promoting the full integration of robots and industry. Keywords: industrial robot; controller; embedded目录 1 绪论 1 1.1机器人和机器人学 1 1.2 机器人的分类 1 1.3 工业机器人的发展 2 2　设计概述 8 2.1 工业机器人的基本组成 8 2.2 机器人的自由度 10 2.3课题组总框架 10 2.4控制器的功能及设计思路 11 3 硬件设计与选型 13 3.1 MPS430单片机概述 13 3.2 CAN总线接口设计 16 3.3光电编码器的反馈信号 35 3.4伺服驱动器的控制 4 系统软件设计 4 4.1MSP430集成开发调试环境 4.2主程序设计 4.3 CAN总线通讯程序设计 5 设计总结 参考文献 致谢 1 绪论 1.1机器人和机器人学 人们从