摘要
针对Motoman-sv3x型工业机器人系统的专用封闭式机构的局限性,提出了一种开放式机器人视觉伺服控制系统。该伺服系统控制基板主要由4片数字信号处理器和1片可编程逻辑器件组成,其中3个单元控制6个逆变器,另一个单元实现整流和电机制动功能。通信单元采用通用串行总线,实现数字信号处理器与上位机间的快速通信,视觉系统采用基于图像的双目视觉伺服控制。该系统实时性好,运算速度快,能够实现复杂的机械臂动作控制。
To overcome the limitations of the special architecture adopted by traditional control system of Motoman- sv3x industrial 6-Degree-of-Freedom （DOF） robotic manipulator, an open control system based on Digital Signal Processors （DSP） and personal computer was presented. Inside the designed control system, the motion control board was mainly consisted of 4 Digital Signal Processor （DSP） chips and 1 Complex Programmable Logic Device （CPLD） chip, among which three DSP chips were used to control the input-voltage of six motors of the robots, and the rest DSP was designed to control the rectifiers and brake the motors. To speed up data communication rate between computer and DSP, universal serial bus was adopted. The visual servo system was based on image with double charge-coupled devices. The proposed system has been proved to be with better real-time ability, higher computation speed, and it could conduct better control on the motion of robotic manipulator.
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2006年第6期955-960,共6页
Computer Integrated Manufacturing Systems
基金
国家自然科学基金资助项目(60174030)~~
