| Under the background of re-industrialization,the manufacturing industry is facing a new round of transformation and upgrading.Developing industrial robot industry,popularizing its applications should be the core meaning of the subject.However,the current industrial robot perception obviously deficiencies become the main factor of restricting its actual replace artificial production.Is generally thought that the structure of the industrial robot,including mechanical part and control part,sensor part;Among them,the sensing part includes the perception of the industrial robot subsystem,interaction of robot and environment subsystem,etc.It can be said that the degree of industrial robot sensing system determines the overall technical content and performance level of industrial robots.On the other hand,with the current study of China's industrial robot equipment manufacturing industry to explore further in the development of robot core technology concept has also formed some authoritative consensus,such as: modular structure,real-time control,communication speed,interface standardization,software distribution,open system etc.This research basically follows this train of thought.This research is based on the same design concept and structure of laboratory——Research on Open Industrial Robot Control System Based on EtherCAT——project.On the basis of the original motion control system,the basic sensing function is introduced through the open bus interface,so as to carry on the preliminary scheme test and the thought exploration.The main work of the sensor platform is to design the hardware circuit board and its core controller.The current sensing platform hardware circuit includes sensing platform core board,multi axis servo drive system position feedback data interface card and vibration signal acquisition card.The functions include EtherCAT slave station,multiple analog input,absolute / incremental encoder data reading,vibration signal acquisition,test signal generation.Specification for interface design includes GPIO,RS-485 and SPI.The software design mainly includes the program design of the core motherboard MCU XMC4800,the position feedback data interface card FPGA program design and the vibration acquisition card MCU chip MSP430 program design.Finally,the prototype of the prototype is shown.With the help of digital oscilloscope,TwinCAT master station software and MATLAB software,the functions of the platform are tested and its performance is evaluated simply.Test results show that each functional module can complete the expected task,the program is feasible. |
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