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在经济型喷漆机器人的研究和开发中,控制系统的软件设计是个关键,它往往决定着该系统的控制性能。我们采用Z80汇编语言,设计了一个完整的机器人控制软件。该软件已成功地应用在由TP805微机控制的、五自由度关节式、主从示教再现型、采用步进电机驱动的经济型喷漆机器人上。该软件的主要功能有:①示教;②再现;③初始化;④点动控制。每一功能,由一程序模块所写成。示教程序模块具有数据采集、数据处理、写磁带等功能。在数据采集时,示教程序采集各关节在每个采样点的绝对位置值(由各关节电位器产生的电压模拟信号经模数转换器转换后的数字量)、喷枪的开闭状态及在该点是否暂停等信息。考虑到内存空间的节省,各点的位置信息,都是以相对位移量的形式来存储的。即:在t_(i-1)到t_i这段采样时间间隔内,j关节的位移量为ΔS_j(t_i)=S_j(t_i)-S_j(t_(i-1))。在进行数字滤波时,我们采用了算术平均值法、中值滤波法及程序判断滤波法等有效手段,削弱或滤除了低频信号的干扰,提高了采集数据的准确性。在进行程序判断滤波时,规定相邻两次的采样偏差值ΔS:ΔS≤V_mΔt/360°γ,这里γ为模数转换器的分辨率,Δt为采样周期,V_m为机器人关节的最大速度(°/s)。写磁带的程序设计包括:开启录音机马达,写磁带引导和同步字符到磁带,写字节到磁带,写工作程序结束标志符,关闭录音机马达等。在有盒式磁带机接口的支持下,执行写磁带程序,可实现工作程序的串行异步发送。
In the research and development of economical painting robot, the software design of the control system is the key, which often determines the control performance of the system. We use the Z80 assembly language, designed a complete robot control software. The software has been successfully used in the TP805 computer-controlled, five-degree-of-freedom articulation, master-slave teaching reproduction, the use of stepper motor-driven economy painting robot. The software’s main functions are: ① teaching; ② reproduction; ③ initialization; ④ jog control. Each function, written by a program module. Teach program module with data acquisition, data processing, write tape and other functions. During data acquisition, the teaching program collects the absolute position value of each joint at each sampling point (the digital quantity converted by the voltage analog signal generated by each joint potentiometer through the analog-digital converter), the state of opening and closing of the spray gun, Whether the point is suspended and other information. Taking into account the saving of memory space, the location of each point of information, are stored in the form of relative displacement. That is, the displacement of the joint j is ΔS_j (t_i) = S_j (t_i) -S_j (t_ (i-1)) during the sampling interval t_ (i-1) to t_i. During digital filtering, we use effective methods such as arithmetic average method, median filtering method and program judgment filtering method to weaken or eliminate the interference of low-frequency signals and improve the accuracy of collected data. In the process of judging the filtering of the program, the sampling deviation ΔS between adjacent two is specified: ΔS≤V_mΔt / 360 ° γ, where γ is the resolution of the ADC, Δt is the sampling period, V_m is the maximum speed of the robot joint ° / s). The programming of the tapes includes turning on the recorder motor, writing tapes to guide and synchronize characters to tape, writing bytes to tape, writing a working program end marker, turning off the recorder motor, and the like. With the support of a cartridge drive interface, a write tape program is executed to allow serial asynchronous transfer of work programs.