Arm Processor-based Drilling Robot Arm Control System

Industrial robot is the field of modern automatic emergence of a new technology, as a multi-disciplinary integration of marginal subjects, which is today one of the areas fastest growing high-tech, and has become a modern machine production systems is an important component. The so-called industrial machinery can be by hand is a kind of a given procedure or requirement to auto-complete objects (such as materials, parts, spare parts or tools, etc.) operating in transmission or operation of mechanical devices, it can partially replace human manual labor. More advanced type of robot, but also simulate human arm movements, the completion of more complex operations. .The topics studied robotic arm is used in industrial production drilling machinery and equipment. It can be based on pre-given task, use the modalities of the program to be a good robot moving line, auto-complete control over their behavior, to complete the entire production process of the drilling work.The main work in this paper involves the following areas:(1) Drilling machine in hand in order to study carried out in order to LPC2138-based controller's embedded system hardware platform design, and the LPC2138 and the servo driver circuit, liquid crystal display circuit, keyboard scanning circuit for interface design, and the implementing agency focused on robotic arm AC servo motor drive was designed research;(2) For theμC/OS- II operating system, a small fine, stable, reliable and easy to transplant and other characteristics, theμC/OS- II operating system be modified, and transplanted to the main control system processor. In the operating system will be the task of manipulator module is divided into: the main program module, the keyboard task of scanning and liquid crystal display modules, sensors, acquisition and control signals to send the task module, the pulse command to send the task module, and design application, will each Some integrated into the robot arm positioning and drilling with the completion of the work.(3) Paper Fuzzy control algorithm is used to control and adjust the arm of the drilling work. And the conventional PID control and fuzzy control of the simulation comparison, select the optimal control scheme, allowing the system to enhance the response time of drilling location, fast drilling to reach the goal, while moving fast and without overshoot. In the paper the last, the author gave a brief summary and outlook.