基于arm的直角坐标系焊接机器人的控制-电机与电器专业论文.docxVIP

摘 摘 要 万方数据 万方数据 摘 要 近些年，随着直线电机的迅速发展，从根本上改变了传统的传动方式，影 响了整个制造工业。以直线电机构成的焊接机器人逐渐普及，其智能控制技术 就显得尤为重要。目前国内的焊接智能控制技术还没有普遍应用，为了实现高 精度、高速度的焊接控制系统，本文对基于 ARM 的直角坐标系焊接机器人的控 制系统进行了研究。 根据直角坐标系焊接机器人的运动需要，搭建了以 ARM 为主处理器，FPGA 为从处理器的系统硬件平台，并对外围电路进行了设计。完成了主从处理器之 间的相互读写数据，采用前加减速控制算法，后插补算法作为控制的核心算法， 并做了选择和相应的改进。选择源代码开放、移植简易的 μC/OS-II 系统，完成 编程读取 G 代码文件、加减速控制脉冲输出和插补参数传递，采用 μC/GUI 作 为其图形显示界面，以触摸的形式完成了人机交互。 本文给出了基于 ARM+FPGA 的直角坐标系焊接机器人控制系统的设计方 案，并介绍了用于数控系统的插补原理和加减速原理。在 ADS 交叉编译软件上 完成了操作系统和图形开发系统的整合移植，并给出了相关驱动代码和应用软 件程序。在 QuartusII 软件上设计完成了插补模块，并说明了具体实现过程，用 Modelsim 进行了仿真。最后分别对控制系统和编程方法，进行了测试与仿真， 满足设计要求。 关键词：ARM，μC/OS-II，μC/GUI，FPGA，插补 I ABSTRA ABSTRACT ABSTRACT In recent years , with the rapid development of the linear motor , fundamentally changed the traditional way of transmission , affecting the entire manufacturing industry. Industrial robot composed of the increasing popularity of the linear motor . Welding robot as an important industrial robots , its intelligent control technology is particularly important. while welding intelligent control technology is not very mature in our country, in order to achieve high-precision , high-speed welding control system, the paper studies based system to control welding robot Cartesian coordinates of ARM. According to needs of Cartesian coordinates movement welding robot , we built the system hardware plantforms and peripheral circuits with ARM -based processor , FPGA was designed as the secondary processor. In this paper completed a master mutual between read and write data from the processor , using the pre-acceleration and deceleration control algorithm,the interpolation algorithm as the core control algorithm , and made the choice and the corresponding improvements.The choice of Embedded operating system is open source, simple transplant μC / OS-II, completes the program to read the G-code file , acceleration and deceleration control pulse output and interpolation parameters are passed using μC / GUI as its graphical display interface to achi