基于PC+控制卡的机器人手势容错控制系统设计

Design of Robot Gesture Fault Tolerant Control System Based on PC + Control Card

摘要:

当前机器人手势容错控制系统，手臂控制灵活性较差，难以达到人们提出的要求。为解决上述问题，设计了一种新的机器人手势容错控制系统，设定“PC+控制卡” 为总体架构，加入主站和总站控制器增强系统的可扩展性，同时采用无冗余和冗余两种方式连接发生故障的线缆，提高系统的容错能力。使用最新的EtherCAT从站芯片设计了硬件的从站系统，LAN9252与外围电路连接形成ESC通信卡和外围电路组成ESC通信卡，引用八轴伺服控制卡作为核心部件，兼容两种从站要求，采用决策系统和原始数据加工处理算法设计了传感器控制。根据硬件设定驱动程序，分别包括从PC端向EtherCAT Master开源主站的驱动程序、从伺服控制卡到主控器的驱动程序、从传感器到伺服控制卡的驱动程序。实验结果表明，基于PC+控制卡的机器人手势容错控制系统最大跟随误差比传统系统误差缩短了24.33%，测试结果能够达到与其要求。

Abstract:

The current robot gesture fault-tolerant control system has poor flexibility in arm control and it is difficult to meet the requirements of people. In order to solve the above problems, a new robot gesture fault-tolerant control system was designed. The “PC + control card” was set as the overall architecture. The master station and the head station controller were added to enhance the scalability of the system. At the same time, no redundancy and redundancy were adopted. Two methods are used to connect the faulty cable to improve the fault tolerance of the system. The latest EtherCAT slave chip is used to design the hardware slave system. The LAN9252 is connected to the peripheral circuit to form the ESC communication card and the peripheral circuit forms the ESC communication card. The eight-axis servo control card is used as the core component. It is compatible with the requirements of two slave stations. The decision-making system and the original data processing algorithm design sensor control. Set the driver according to the hardware, including the driver from the PC to the EtherCAT Master open source master, the driver from the servo control card to the master, and the driver from the sensor to the servo control card. The experimental results show that the maximum following error of the robot gesture fault-tolerant control system based on PC + control card is 24.33% shorter than the traditional system error, and the test results can meet its requirements.