智能机器人运动关节集成驱动控制器研究

Research on an Integral Driving Controller for Robot Moving Joints

根据智能机器人的控制要求,提出了机器人控制系统的顶层核心控制器和底层运动控制器的双层结构,底层与顶层基于CAN总线完成关节状态信息的上传和运动指令的下达。在此基础上,采用高速DSP、IPM功率智能模块、光电编码器、无刷直流电机等构建了机器人运动关节集成驱动控制器的硬件电路,并完成了相应软件设计。结果表明,这种集成驱动控制器简化了层间联系,提高了响应速度,增加了整体集成度,有利于运动关节的驱动控制一体化。

A two-level controlling structure with a top core controller and a bottom moving controller for robot controlling system is brought out according to control demands of intelligent robot, Duties of the top level and the bottom level are to finish upload of joints information and orders of moving instruction based on CAN bus. The system mainly adopted high-speed DSP, IPM power intelligent module, photo-eleetrical encoder and DC motor to build a hardware circuit of the integral driving controller for robot moving joints and then the software design was finished. The simulation results show that the integral driving controller simplifies the levels relation, increasing response speed and total integration of robot system. The controller realizes driving control incorporation for robot＇s moving joints.