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AN2350 データシート(PDF) 32 Page - STMicroelectronics

部品番号 AN2350
部品情報  Guidelines for the control of a multiaxial planar robot with ST10F276
PDF  41 Pages
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メーカー  STMICROELECTRONICS [STMicroelectronics]
ホームページ  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

AN2350 データシート(HTML) 32 Page - STMicroelectronics

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Control algorithm
AN2350
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As shown in the figure above, the trajectory in this case is made of three tracts.
●
A straight-line tract with a trapezoidal velocity profile that brings the end-effector from
the start point
to the origin
.
●
A change of the configuration in which the entire arm is rotated of 180°. We can see
how the position of the end-effector remains the same while its orientation is changed.
●
A straight-line tract with a trapezoidal velocity profile that brings the end-effector from
the origin
to the stop point
.
Figure 25.
Motion path planning scheme to avoid singularities
4.2
PID position control algorithm
The points of the trajectory table have to be given as input one by one to the control
algorithm every TR , that has been fixed in 20 ms, while the PID control interrupt service
routine (ISR) is performed every 1ms.
The trajectory table is composed of two arrays; one for the shoulder (shoulder_array[ ]) and
one for the elbow (elbow_array[ ]), obviously of the same dimension.
The control ISR has been associated to the compare unit CC2, while the scanning of the
trajectory table has been associated to the compare unit CC3.
The incremental encoders of the shoulder and the elbow have been associated to the GPT1
timers T2 and T4, respectively, used in incremental interface mode.
)
,
(
1
1 y
x
)
0
,
0
(
)
0
,
0
(
)
,
(
2
2
y
x
Start point (x1, y1)
Stop point (x2, y2)
N
Y
c=0
Motion path planning
Straight-line motion
(x1,y1)
⇒ (x2,y2)
Y
Trajectory table as
encoder pulses
Straight-line motion
(x1,y1)
⇒ (0,0)
Configuration change
180° rotation
Straight-line motion
(0,0)
⇒ (x2, y2)
sign(x1)
=
sign(x2)



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