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机械手臂作业的安全性与可靠性对机械制造厂商来说极其重要,为了解决这个问题,研究激光测距在机械手臂防碰撞自动控制中的应用,开发出基于脉冲式激光测距的机械手臂防碰撞自动控制系统。系统采用脉冲式激光测距方法,利用脉冲信号使脉冲激光器瞬间发出巨大功率的激光光束,同时初始化参考时钟进行激光运行时间计数。当光束从机械手臂表面反射回系统电路,参考时钟给出计数时间,通过简单运算获取机械手臂与障碍物之间的距离,将这个距离与临界防碰撞距离进行对比,得到碰撞判定结果并实施自动控制。系统利用收发信号之间脉冲状态不同步的性质排除计数误差,并给出系统开发代码。实验结果表明,所开发的系统探测度高且测距噪声小。
In order to solve this problem, the research on the application of laser ranging in robot arm collision avoidance automatic control is developed. The arm arm defense based on pulse laser ranging is developed Collision automatic control system. The system uses pulsed laser ranging method, the use of pulsed laser pulse signal to the moment issued a huge power laser beam, while initializing the reference clock for laser running time counting. When the light beam is reflected back from the surface of the robot arm to the system circuit, the reference clock gives the counting time, the distance between the robot arm and the obstacle is obtained through a simple operation, and the distance is compared with the critical collision avoidance distance to obtain the collision judgment result and implement the automatic control. The system uses the nature of the asynchronous pulse state between the send and receive signals to eliminate the counting error and gives the system development code. The experimental results show that the developed system has high detection and low range noise.