Study On Motion Control Of Picking Robot Joint Based On ARM

With the rapid development of computers and automatic control technology, agricultural machinery will enter the highly automated and intelligent period. The applications of picking robot can improve productivity and product quality; improve the working conditions, to solve the labor shortage.Studied the subject of mechanical picking robot arm with five rotational joints, rotational joints of the control can be achieved on the robot motion control.This article discusses how to ARM microprocessor LPC2114, L298 motion control chips, permanent magnet DC torque motor 55LYX02 and AS5045 magnetic rotary encoder as the key device, the hardware platform through the structure and design control procedures to build a position feedback function of the corner joint movement control systems.First of all, in accordance with article 5 picking robot arm rotating joint control requirements, the design of the overall control system of joint control. That the joint control system and PC is the CPU master-slave relationship between the two, the two communicate through the CAN bus; joint control system to receive host computer system on the one hand, issued by a given value, on the one hand, to receive magnetic rotary encoder feedback actual output value, and then on the deviation between the two posed for PID control operation, the output control voltage to the amendment in order to achieve closed-loop joint control of the corner location.Paper provides an overview of harvesting robot joint control system hardware components, and then designed in accordance with the structure of thought, followed on the LPC2114 for the ARM microprocessor core, the main control module, the L298 driver IC with DC torque motor drive consisting of 55LYX02 modules and the use of AS5045 magnetic rotary encoder feedback device for feedback module design principles and methods of analysis and discussion, given the actual circuit diagram or schematic.In software design, papers from the macro-control system will be divided into modules and run the module initialization and module, respectively, for each of the design process. Its main contents include: the system initialization program design, PID control and PID control principle, the electrical shift control program design and wave-based PWM motor speed control programming.In order to enable even better control, this article will be fuzzy PID control algorithm with a combination of fuzzy theory of self-tuning PID control system for the joint optimization algorithm. In MATALB / Simulink environment, were building a traditional PID control and fuzzy self-tuning PID control model and simulation. Comparative simulation results the following conclusions: the use of fuzzy self-tuning PID control system to respond faster and more accurate adjustment, the steady-state performance better, but not super-harmonic oscillation, robustness, which is the traditional PID control difficult to achieve.In this paper, the joint control system developed by a small size, high level of integration, intelligent control methods with high-precision DC servo system. The control system is modular, extensible, portable, small hardware, low power consumption, real-time, high reliability.