Abstract : The application of industrial robots in Dongguan has a huge market and prospects. This article describes a precision assembly robot, introducing its basic composition of data communication methods and controllers, and summing up the limitations of existing technologies. Sex, also discussed the direction of future research.
1. Introduction With the intersection, penetration, and integration of new technologies and manufacturing technologies such as information technology, materials technology, and new energy technologies, there are many major and profound changes in the manufacturing industry today compared to the past. The complexity of El's growth is an important feature of the current manufacturing industry. This is reflected not only in the manufacturing system but also in the manufactured products, the manufacturing process, and the structure of the company. This complexity provides a good opportunity for the development of industrial robots. Of course, it is also a challenge! The Dongguan University of Technology is located in the Songshan Lake High-tech Development Zone in Dongguan. As a modern manufacturing city, Dongguan is in the most critical period of industrial transformation. If the timely application of industrial robots to the transformation of production lines of various companies, there will undoubtedly be a huge space and prospects.
This industrial robot is a precision assembly robot that uses four-axis servo motor drive control to achieve four-axis spatial linkage, configuration of different tool kits can achieve handling, palletizing, assembly and other work, with high speed, high precision, good flexibility, etc. Features: It is driven by an alternating current servo motor and consists of a manipulator (machine body), controller, servo drive system and sensor device:
(1) Manipulator: Through the use of modern design methods such as finite element analysis, modal analysis, and simulation design, the robot manipulator has achieved optimal design.
(2) Controller: From the start of the application of the GT series motion controllers from Googol Technology Co., Ltd. to the autonomous development of ARM9-based controllers, software servos and full digital control have been implemented.
(3) Servo drive system: Fujifilm server.
(4) Sensing device: Attempts to use laser sensors, vision sensors, and force sensors in robotic systems to achieve automatic positioning and precise assembly of objects on automated production lines have greatly improved the robot's performance and performance. The adaptability of the environment.
(5) Network communication: The robot controller has realized the connection with Canbus, Profibus, and some networks. It has taken robots from the past independent applications to networked applications and has taken a big step. It has also standardized robots from past dedicated equipment. Equipment development.
2. Data communication methods Because serial communication uses fewer transmission lines and long transmission distances, it is conducive to real-time control and management. Therefore, the system adopts a serial communication method. When “serial communication†is used, data is on a data line. The bit is transmitted one bit at a time. Each bit of data occupies a certain fixed period of time. However, since the computer CPU and the interface are transferred in parallel, the interface and the peripheral are transmitted in a serial manner. Therefore, the data is serialized. The interface must have "accept shift register" and "transmit shift register", responsible for the conversion between serial data and parallel data, and the circuit capable of performing the "string <->" and the "parallel" conversion function is called "universal asynchronous transceiver". ". In terms of transmission speed, serial communication is significantly lower than parallel communication, but the advantages of low serial communication cost and long communication distance are obvious.
The information transmission only occupies one communication line in one direction. This line serves as both the data line and the connection line. The agreement between the host computer and the robot is organized according to the following three levels.
(1) Physical layer: refers to the hardware used to perform this communication, including data lines and control lines. The system uses an RS232 serial port. The robot has a 9-pin D connector at one end and the RJ-45 connector at the other end connects to the terminal server Terminal Server. The extended serial interface is then connected to the FMS LAN through the terminal server's network interface, and finally it is connected to the robot control computer. The hardware platform is shown in Figure 1.
(2) Data Link Layer: This layer is a low-level communication protocol that uses sending and receiving special control characters to ensure reliable transmission of information. The exchange of information between the industrial robot controller and the host computer consists of a string containing the actual information to be exchanged and additional control characters. Additional characters are required so that the receiving device can decide whether a complete set has been received. information. Sending a robot's control instructions requires the following six phases: send open, send send, send close, accept open, accept unpack, and accept closed.
(3) Application layer: This layer is an advanced communication protocol that defines the content of each type of information and the response of each type of information. After the robot controller receives a message, the information must be decoded by its controller and make corresponding actions. The software that can respond to the host computer information command is called an application-level protocol. In this system, the host computer sends L0ADV, SAVEV, JwAIT, and START instructions to realize the microcomputer startup and real-time monitoring.
3. How the controller can effectively apply research results in other fields (such as image processing, voice recognition, optimal control, artificial intelligence, etc.) to the real-time operation of the robot control system is a challenging research task. The study of modularized and standardized robotic controllers with open architecture is undoubtedly of great significance to improving robot performance and autonomous capabilities and promoting the development of robotics. A robot controller is a device that controls a robot to perform certain actions or job tasks based on instructions and sensor information. It is the heart of the robot and determines the merits of the robot's performance.
Here a serial control algorithm is used, and the robot's control algorithm is handled by the serializer. With the upper and lower computer secondary distributed structure, the host computer is responsible for the entire system management and kinematics calculations, trajectory planning. The lower machine consists of multiple CPUs. Each CPU controls an articulated movement. These CPUs and masters are closely coupled via a bus. The operating speed and control performance of the controller of this structure are obviously improved, but the features common to these multiple CPU systems are the functional distributed architecture adopted for specific problems, ie, each processor assumes a fixed task and the controller computer controls the system. The position control part uses digital position control. The hardware platform started with the GT series motion controller produced by Googol, which can synchronously control four motion axes and realize multi-axis coordinated motion. Its core is composed of ADSP2I8l digital signal processor and FPGA, which can realize high-performance control and calculation. In the research process, there are the following limitations:
(1) Poor openness: It is limited to the closed structure of “special-purpose computers, special robot languages, and dedicated microprocessorsâ€. The closed controller structure enables it to have specific functions and adapt to a specific environment, which is inconvenient for extending and improving the system.
(2) Poor software independence: The software structure and its logic structure depend on the processor hardware and it is difficult to transplant between different systems;
(3) Poor fault tolerance: Due to the intrinsic characteristics of data correlation, communication, and synchronization in parallel computing, the fault tolerance performance of the controller is degraded, and failure of one of the processors may result in the failure of the entire system.
(4) Poor scalability: At present, the research of robot controllers focuses on the more common ones from the joint level. For example, for empty-house missile guided fires, locking and pre-biasing are two frequently used functions. However, they have different requirements for the form of the servo system and the choice of speed sensor.
First of all, if a set of tachometer elements is added to the seeker, the problem can be solved, but doing so will increase the complexity of the system and facilitate the engineering and miniaturization of product development. Moreover, through calculation and analysis, it is found that In the missile's sail-fighting state, although the guided optical axis is required to reproduce the relative missile lock, search and radar slap signal, but the missile stays on-hook status of the projectile swinging angular velocity is not too large, and the swing duration is also Not very long, if the locking quality of the seeker can meet the requirements, the drawbacks of using the rate gyro to feedback can be greatly reduced. Therefore, after a comprehensive consideration, it was decided that only the rate gyro was used as the inner-loop speed sensor, so as to better achieve stable tracking of the optical axis to the El target.
4. Simulation Verification As an example, the follow-up system reproduces relatively inertially-space-stabilized inputs. To further compare the two solutions, we used ADAMs software and MATLAB software together to perform the kinematics of the scaler, the joint movement of the J-learning and the control system. simulation. The simulation condition assumes that the target is stationary in space. In the middle ring channel, the gyro speed feedback and the velocity feedback of the tachometer are respectively used to follow the target indication information in the case of the missile body swing, and the pointing error (ie, the angle between the optical axis and the line of sight). The size of the record, the simulation results shown in Figure 3.
The solid line is the error when using the gyro signal, and the dotted line is the error when using the tachometer signal. The results show that the gyro signal can be used as a feedback signal to effectively reduce the follow-up error of the system. This result is also consistent with the previous theoretical analysis.
5. Conclusion This article analyzed in detail the types of different input signals of the moving base servo system, and obtained the sensor selection principle of adopting the speed gyro feedback for the stable input of the relative base, the feedback of the tachometer, and the input of the relative inertial space stability. Taking the air-to-air missile seeker as an example, the digital simulation of ADAMs and MATLAB was performed. The simulation results verify the correctness of the analysis.
1. Introduction With the intersection, penetration, and integration of new technologies and manufacturing technologies such as information technology, materials technology, and new energy technologies, there are many major and profound changes in the manufacturing industry today compared to the past. The complexity of El's growth is an important feature of the current manufacturing industry. This is reflected not only in the manufacturing system but also in the manufactured products, the manufacturing process, and the structure of the company. This complexity provides a good opportunity for the development of industrial robots. Of course, it is also a challenge! The Dongguan University of Technology is located in the Songshan Lake High-tech Development Zone in Dongguan. As a modern manufacturing city, Dongguan is in the most critical period of industrial transformation. If the timely application of industrial robots to the transformation of production lines of various companies, there will undoubtedly be a huge space and prospects.
This industrial robot is a precision assembly robot that uses four-axis servo motor drive control to achieve four-axis spatial linkage, configuration of different tool kits can achieve handling, palletizing, assembly and other work, with high speed, high precision, good flexibility, etc. Features: It is driven by an alternating current servo motor and consists of a manipulator (machine body), controller, servo drive system and sensor device:
(1) Manipulator: Through the use of modern design methods such as finite element analysis, modal analysis, and simulation design, the robot manipulator has achieved optimal design.
(2) Controller: From the start of the application of the GT series motion controllers from Googol Technology Co., Ltd. to the autonomous development of ARM9-based controllers, software servos and full digital control have been implemented.
(3) Servo drive system: Fujifilm server.
(4) Sensing device: Attempts to use laser sensors, vision sensors, and force sensors in robotic systems to achieve automatic positioning and precise assembly of objects on automated production lines have greatly improved the robot's performance and performance. The adaptability of the environment.
(5) Network communication: The robot controller has realized the connection with Canbus, Profibus, and some networks. It has taken robots from the past independent applications to networked applications and has taken a big step. It has also standardized robots from past dedicated equipment. Equipment development.
2. Data communication methods Because serial communication uses fewer transmission lines and long transmission distances, it is conducive to real-time control and management. Therefore, the system adopts a serial communication method. When “serial communication†is used, data is on a data line. The bit is transmitted one bit at a time. Each bit of data occupies a certain fixed period of time. However, since the computer CPU and the interface are transferred in parallel, the interface and the peripheral are transmitted in a serial manner. Therefore, the data is serialized. The interface must have "accept shift register" and "transmit shift register", responsible for the conversion between serial data and parallel data, and the circuit capable of performing the "string <->" and the "parallel" conversion function is called "universal asynchronous transceiver". ". In terms of transmission speed, serial communication is significantly lower than parallel communication, but the advantages of low serial communication cost and long communication distance are obvious.
The information transmission only occupies one communication line in one direction. This line serves as both the data line and the connection line. The agreement between the host computer and the robot is organized according to the following three levels.
(1) Physical layer: refers to the hardware used to perform this communication, including data lines and control lines. The system uses an RS232 serial port. The robot has a 9-pin D connector at one end and the RJ-45 connector at the other end connects to the terminal server Terminal Server. The extended serial interface is then connected to the FMS LAN through the terminal server's network interface, and finally it is connected to the robot control computer. The hardware platform is shown in Figure 1.
(2) Data Link Layer: This layer is a low-level communication protocol that uses sending and receiving special control characters to ensure reliable transmission of information. The exchange of information between the industrial robot controller and the host computer consists of a string containing the actual information to be exchanged and additional control characters. Additional characters are required so that the receiving device can decide whether a complete set has been received. information. Sending a robot's control instructions requires the following six phases: send open, send send, send close, accept open, accept unpack, and accept closed.
(3) Application layer: This layer is an advanced communication protocol that defines the content of each type of information and the response of each type of information. After the robot controller receives a message, the information must be decoded by its controller and make corresponding actions. The software that can respond to the host computer information command is called an application-level protocol. In this system, the host computer sends L0ADV, SAVEV, JwAIT, and START instructions to realize the microcomputer startup and real-time monitoring.
3. How the controller can effectively apply research results in other fields (such as image processing, voice recognition, optimal control, artificial intelligence, etc.) to the real-time operation of the robot control system is a challenging research task. The study of modularized and standardized robotic controllers with open architecture is undoubtedly of great significance to improving robot performance and autonomous capabilities and promoting the development of robotics. A robot controller is a device that controls a robot to perform certain actions or job tasks based on instructions and sensor information. It is the heart of the robot and determines the merits of the robot's performance.
Here a serial control algorithm is used, and the robot's control algorithm is handled by the serializer. With the upper and lower computer secondary distributed structure, the host computer is responsible for the entire system management and kinematics calculations, trajectory planning. The lower machine consists of multiple CPUs. Each CPU controls an articulated movement. These CPUs and masters are closely coupled via a bus. The operating speed and control performance of the controller of this structure are obviously improved, but the features common to these multiple CPU systems are the functional distributed architecture adopted for specific problems, ie, each processor assumes a fixed task and the controller computer controls the system. The position control part uses digital position control. The hardware platform started with the GT series motion controller produced by Googol, which can synchronously control four motion axes and realize multi-axis coordinated motion. Its core is composed of ADSP2I8l digital signal processor and FPGA, which can realize high-performance control and calculation. In the research process, there are the following limitations:
(1) Poor openness: It is limited to the closed structure of “special-purpose computers, special robot languages, and dedicated microprocessorsâ€. The closed controller structure enables it to have specific functions and adapt to a specific environment, which is inconvenient for extending and improving the system.
(2) Poor software independence: The software structure and its logic structure depend on the processor hardware and it is difficult to transplant between different systems;
(3) Poor fault tolerance: Due to the intrinsic characteristics of data correlation, communication, and synchronization in parallel computing, the fault tolerance performance of the controller is degraded, and failure of one of the processors may result in the failure of the entire system.
(4) Poor scalability: At present, the research of robot controllers focuses on the more common ones from the joint level. For example, for empty-house missile guided fires, locking and pre-biasing are two frequently used functions. However, they have different requirements for the form of the servo system and the choice of speed sensor.
First of all, if a set of tachometer elements is added to the seeker, the problem can be solved, but doing so will increase the complexity of the system and facilitate the engineering and miniaturization of product development. Moreover, through calculation and analysis, it is found that In the missile's sail-fighting state, although the guided optical axis is required to reproduce the relative missile lock, search and radar slap signal, but the missile stays on-hook status of the projectile swinging angular velocity is not too large, and the swing duration is also Not very long, if the locking quality of the seeker can meet the requirements, the drawbacks of using the rate gyro to feedback can be greatly reduced. Therefore, after a comprehensive consideration, it was decided that only the rate gyro was used as the inner-loop speed sensor, so as to better achieve stable tracking of the optical axis to the El target.
4. Simulation Verification As an example, the follow-up system reproduces relatively inertially-space-stabilized inputs. To further compare the two solutions, we used ADAMs software and MATLAB software together to perform the kinematics of the scaler, the joint movement of the J-learning and the control system. simulation. The simulation condition assumes that the target is stationary in space. In the middle ring channel, the gyro speed feedback and the velocity feedback of the tachometer are respectively used to follow the target indication information in the case of the missile body swing, and the pointing error (ie, the angle between the optical axis and the line of sight). The size of the record, the simulation results shown in Figure 3.
The solid line is the error when using the gyro signal, and the dotted line is the error when using the tachometer signal. The results show that the gyro signal can be used as a feedback signal to effectively reduce the follow-up error of the system. This result is also consistent with the previous theoretical analysis.
5. Conclusion This article analyzed in detail the types of different input signals of the moving base servo system, and obtained the sensor selection principle of adopting the speed gyro feedback for the stable input of the relative base, the feedback of the tachometer, and the input of the relative inertial space stability. Taking the air-to-air missile seeker as an example, the digital simulation of ADAMs and MATLAB was performed. The simulation results verify the correctness of the analysis.
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