Design of Gait Automatic Control System for Industrial Robots Based on X86 Platform and RSI
There are dynamic and changing tasks and work scenarios in industrial environments,robots need to adjust their gait according to environmental changes,and meet the requirements of new tasks.To achieve this,an industrial robot gait automatic con-trol system based on X86 platform and robot sensor interface(RSI)is designed.The robot controller board is designed based on X86 architecture of computer with complex instruction set,which enables the system to have high integration and scalability.The ultra-sonic sensors and infrared sensors are used to acquire the automatic gait control sensing signals,and adopt the gait joint controller based on the high-precision non-contact magnetic rotary encoder of AS5040,it locates the direction of joint motion through the bus ex-tension.The gait planning trajectory of mechanical arm is analyzed to control the hip joint.The RSI application package is used to control the point-based motion and achieve gait automatic control.The experimental results show that compared with the actual traj-ectory of the hip joint,the maximum error of the designed system is only 20 mm of x-direction and consistent with that of the y-direc-tion during the grapping time of 12 s;The maximum error in the x-direction is only 20 mm,and that of the y-direction only 15 mm during the grapping time of 4 s to 22 s,which can improve the control accuracy and achieve better control results.
X86 platformRSIindustrial robotsautomatic gait control
万方数据
维普
