Six-axis industrial robot speed measuring method based on FPGA

Abstract

The invention discloses a six-axis industrial robot speed measuring method based on FPGA. The method comprises the following steps: motor speed measurement and multi-channel divider implementation, wherein the motor speed measurement adopts a method of combining an improved M method with a T method, so that artificial definition of a critical speed of a high speed and a low speed is avoided, and the measuring precision is improved; moreover, the multi-channel divider implementation adopts a multi-channel divider to calculate the speed of each axis, so that the multiple axes of the six-axis industrial robot share one divider resource, and therefore, the independence of each axis is not affected while a great number of LE logic resources are saved.

Description

technical field [0001] The invention belongs to the field of industrial robot control, and in particular relates to an FPGA-based method for measuring the speed of a six-axis industrial robot. Background technique [0002] Improving the speed measurement accuracy is an important direction to improve the control accuracy of industrial robots. The traditional motor speed measurement methods include M method and T method: M method is to measure the number of pulses within a certain period of time, that is, the angle that the motor rotates within a certain period of time. Thus, the angular velocity is obtained. When the number of pulses in a certain period is more, the measurement result is more accurate, so this method is suitable for high-speed situations; T method is to measure the time interval between two pulses. The higher the speed, the smaller the time interval, and the faster the speed. The slower the time interval, the longer the time interval, so this method is used t...

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Problems solved by technology

[0002] Improving the speed measurement accuracy is an important direction to improve the control accuracy of industrial robots. The traditional motor speed measurement methods include M method and T method: M method is to measure the number of pulses within a certain period of time, that is, the angle that the motor rotates within a certain period of time. Thus, the angular velocity is obtained. When the number of pulses in a certain period is more, the measurement result is more accurate, so this method is suitable for high-speed situations; T method is to measure the time interval between two pulses. The higher the speed, the smaller the time interval, and the faster the speed. The slower the time interval, the longer the time interval, so this method is used to measure the slow speed; in the industry, the M method and the T method are generally combined to improve the motor speed measurement accuracy, but the boundary between high speed and low speed in this method is not very clear, and it is often defined artificially. The critical speed value brings great inconvenience to speed measurement and also brings speed measurement error

For FPGA-based six-axis industrial robots, in order to ensure that the axes do not affect each other and improve the synchronization between the axes, the speed measurement module needs to be instantiated in the hardware description language; but in the speed calculation, six dividers are needed. It needs to consume a lot of LE resources, which puts great pressure on FPGAs with limited LE resources

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