基于X86平台和RSI的工业机器人步态自动控制系统设计

Design of gait automatic control system for industrial robots based on X86 platform and RSI

摘要:

工业环境中的任务和工作场景是动态变化的,机器人需要能够根据环境的变化调整步态,以满足新的任务需求。为此,设计基于X86平台和RSI的工业机器人步态自动控制系统。以复杂指令集计算机为基础的X86架构设计机器人控制器主板,使系统具有高集成度和扩展性。利用超声波传感器和红外线传感器获取步态自动控制传感信号。使用基于AS5040型高精密非接触磁性转动编码器的步态关节控制器,通过总线扩展,定位关节运动方向。分析机械臂前后摆动步态规划轨迹,控制髋关节。使用RSI应用程序包控制点位运动,实现步态自动控制。实验结果表明,设计系统的膝关节x方向与实际轨迹只存在最大为20mm的误差,y方向与实际轨迹一致；髋关节x方向与实际轨迹只存在最大为20mm的误差,y方向与实际轨迹只存在最大为15mm的误差,能够提高控制精度,控制效果较好。

关键词:X86平台;RSI;工业机器人;步态自动控制

Abstract:

The tasks and work scenarios in industrial environments are dynamically changing, and robots need to be able to adjust their gait according to changes in the environment to meet new task requirements. To this end, a gait automatic control system for industrial robots based on the X86 platform and RSI is designed. Design the robot controller motherboard based on the X86 architecture of a complex instruction set computer, making the system highly integrated and scalable. Utilize ultrasonic sensors and infrared sensors to obtain sensing signals for automatic gait control. Using a gait joint controller based on AS5040 high-precision non-contact magnetic rotary encoder, the joint motion direction is located through bus expansion. Analyze the forward and backward swinging gait of the manipulator to plan the trajectory and control the hip joint. Use RSI application package to control point motion and achieve automatic gait control. The experimental results show that there is only a maximum error of 20mm between the x-direction of the designed knee joint and the actual trajectory, and the y-direction is consistent with the actual trajectory; There is only a maximum error of 20mm between the x-direction of the hip joint and the actual trajectory, and a maximum error of 15mm between the y-direction and the actual trajectory, which can improve control accuracy and achieve good control results.

Key words:X86 platform; RSI; Industrial robots; Automatic gait control