摘要
Abstract
The research of palletizing robot is of great significance to increase the efficiency and save the cost.Based on the analysis of functional requirements and basic principles of palletizing robot,this paper studies in detail the control system of ARM embedded robot.Firstly,the hardware platform for the control system wa.s built by using Cortex-M3 kernelled microcontroller and the extended peripheral equipment while the core software used wasμC/OS-Ⅱ.In addition,the human-computer interacting interface was designed based on μCGUI.Secondly,the software architecture of the control system was designed and developed hierarchically,in which,there are three layers of packed codes,the driving layer,the task management layer and the motion control layer.Specially,the acceleration and deceleration algorithm were added to the motion control layer toprogram the trajectory.Finally,the functions of the control system,which are communication function,zero-point reset function,and automatic moving function,were tested respectively.In addition,the robot was used to move some real objects.The results show that the robot has a high accuracy in repeat positioning and can be controlled smoothly and safely.关键词
码垛机器人/控制系统/μC/OS-Ⅱ/ARMKey words
palletizing robot/control system/μC/OS-Ⅱ/ARM分类
机械制造
