Control system of six-degree-of-freedom serial robot and control method thereof

Abstract

The invention relates to a control system of a six-degree-of-freedom serial robot and a control method thereof. The control system of the six-degree-of-freedom serial robot comprises a main controller communicated with an upper computer in a bidirectional mode through a serial communication circuit, the output end thereof is connected with the input end of each of a robot pawl grasping circuit and a drive circuit, and the output end of the drive circuit is connected with motors at joints of the robot arms; signal output ends of angle sensors arranged at the joints of the robot arms and pressure sensors arranged at robot pawls are connected with the input end of an analog signal processing circuit, the output end of the analog signal processing circuit is connected with the input end of the main controller, and the main controller uses an MCF 52259 chip. The robot automatically detects positions and finishes work, the unnecessary operation is reduced, and the control is easy and convenient to realize; the 32-bit MCF52259 chip serves as the main controller, the main controller realizes to control the robot in real time through having serial communication with the upper computer, and the control precision is high.

Description

technical field [0001] The invention relates to the technical field of robot control systems, in particular to a control system and a control method for a six-degree-of-freedom serial robot. Background technique [0002] With the development of robots in various fields and the continuous upgrading of robot systems, people have higher and higher requirements for robot control. It is necessary to ensure the control accuracy of robots, but also to ensure the reliability, safety and robot application occasions of robot control. diversification; most of the existing six-degree-of-freedom serial robot control systems are closed. Although this kind of robot is simple to control, it can only complete the work for specific tasks, and each application of the robot must be controlled through the teaching box. Its position correction not only increases the operation complexity of the robot, but also makes it difficult to guarantee the control stability and control accuracy, and limits t...

AI Technical Summary

Problems solved by technology

[0002] With the development of robots in various fields and the continuous upgrading of robot systems, people have higher and higher requirements for robot control. It is necessary to ensure the control accuracy of robots, but also to ensure the reliability and safety of robot control and the application occasions of robots. diversification; most of the existing six-degree-of-freedom serial robot control systems are closed. Although this kind of robot is simple to control, it can only complete the work for specific tasks, and each application of the robot must be controlled through the teaching box. Its position correction not only increases the operation complexity of the robot, but also makes it difficult to guarantee the control stability and control accuracy, and limits the application field of the robot.

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