Research And Implementation Of Human Collaborative Robot Control System

As the industrial robot technology innovation,direct physical interactions between the human operator and industrial robots has attracted the interest of researchers,and it has expedited a lot of technical innovation on Human-Robot Interaction.Allows humans and robots closer interaction,could improve the efficiency on both sides in many fields,and this collaboration mode in the small assembly has incomparable advantages.Meanwhile,Human-Robot Interaction was considered a transition from manual assembly to the unmanned factory.It is meaningful to do the research of its control system and it's application prospect of is very considerable.This topic based on the analysis of the latest achievements of the human collaborative robot at home and abroad,present a kind of open control system based on high-speed RS485 bus.The control system consists of somatosensory teach pendant,controllers and servo drive board.The MCU of somatosensory teach pendant uses STM32F103,through 9D IMU LSM9DS1 to detection teach pendant attitude.According to the attitude to capture teaching points.Match with a LCD screen,keypad,and a variety of function switches,for interaction with the controller and robot control.Robot controller with ARM+FPGA architecture,use iMX6 as the main control chip which have the ARM9 core.Real-time Linux operating system running inside,which is responsible for the teaching program of edit analysis,task scheduling,motion algorithms.Robot controller support RS485,CAN,EtherCAT bus models,FPGA chip use EP4CE22F17,is responsible for joint control of pulse synchronization outputs and encoder feedback signal processing.On account of weight requirements for collaborative robots,servo driver system should built into the robot.The driver Board with STM32F405 as the main control chip,through high-speed RS485 to receive control commands from the controller,generates the appropriate motor driven pulse,meanwhile send encoder feedback,sensor date,current information,and vibration signal to the controller.Finally,following the completion of hardware circuit design and testing,use a 7-DOF light manipulator as test platform,to verify the complete control system.Results show that the robot control system has commendable interactive,easy to operation,and has a strong sense of stability and reliability.