【作者】 廖辉；

【导师】 周国荣；

【作者基本信息】 中南大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 随着控制科学的飞速发展，有关机器人先进控制技术与控制方法的研究也在近些年内不断兴起。设计完善的机器人系统，涵盖了机器人几何建模、操作臂运动学与动力学研究、最优轨迹规划算法的研究、机器人先进控制器的设计、系统的非线性和鲁棒性，以及各种智能控制算法的研究等许多控制领域的相关技术。本文系统地介绍了与机器人控制相关的基本理论、四关节PR机器人控制系统硬件的设计、控制软件开发及应用的技术要点和实现方法。 与传统的机器人设计不同的是，该PR机器人系统采用了全数字位置伺服控制技术，在保证控制系统高可靠性的同时，大大提高了系统的控制精度。本机器人控制系统采用了三级CPU控制的体系结构：第一级为上位计算机，实现机器人系统管理与协调控制、人机交互、以及机器人逆运动学和实时轨迹规划等先进算法运算的功能；第二级为高性能DSP处理器，实现关节空间中机器人各关节的轨迹精细插补控制，以及控制机器人进行示教、回零等操作；第三级为交流驱动器处理器，实现伺服电机的精确的三闭环误差驱动控制和电机的故障诊断及自动保护的功能。上位计算机系统的指令给定速率与下位机系统的伺服控制频率不同，使得上位系统与下位系统可以实现双速率控制，这样就既可以充分发挥下位DSP控制器的高速运算性能，提高伺服回路的控制精度和动态性能，又可以使上位计算机进行更多复杂的机器人控制算法的运算。 通过对系统反复的硬件、软件调试以及实验作业演示，结果表明，该四关节PR型机器人系统控制的实时性好、定位精度高、运行稳定可靠。本文介绍的基于先进数字位置控制技术设计的机器人控制系统将会对机器人技术的应用提供切实可行的实施方案，并具有重要的参考价值和广泛的应用前景。更多还原

【Abstract】 With the development of control science, the research related to advanced controlling technology and method of robot have been springing up these years. To design perfect robot system, a lot of correlative technologies in control field are involved, such as robotic modeling, research on kinematics and kinetics of manipulators, study of optimum trajectory planning algorithm, design of advanced robotic controller, study of nonlinear and robust property of robot system and research on intelligent control algorithm. This article systematically introduces some technical key points and realization methods of robot control principles, hardware design of 4-joint PR robot system, and development and application of systematic software.The technique of entirely digital position servo control adopted in the PR robot system, which is different from traditional robot designs, greatly improves system control precision and safely guarantees reliability. This robot control system has adopted 3-stage CPU control structure: The highest stage is the PC, which realizes systematic management and cooperative control of robot and man-machine inter-communication, as well as advanced algorithm operation such as inverse kinematics and real-time trajectory planning of robot; The middle one is the high-efficiency DSP processor, which realizes subtle trajectory planning for each robot joint in joint space, and controls robot to perform those show-teach operations and return to null-position; The lowest is AC servo driver, which realizes accurate error-driving control of servo motors, fault diagnosis and self-protection in motors. The difference between the giving frequency from the PC and that of servo control system enables the upper and lower controllers operate at different speeds. This way, the high-efficiency property of DSP can be fully exercised to improve control precision and dynamic property of servo control loop and enable the PC to execute more complicated algorithm of robot.Through debugging hardware and software of the system and experimenting repeatedly, the results show that this robot control system has good real time property, high position precision, stability and reliability. Thecontrol system based on advanced digital position control technology, which has been introduced by this thesis, presents a feasible scheme for the application of robot technology, and also has important reference value and broad application prospect.更多还原