6DD1606-2AB0

6DD1606-2AB0

6DD1606-2AB0

农业机器人不仅可以解决劳动力的不足，还可以进步劳动生产率，改善农业生产环境，农业机器人的研究在国内外受到广泛重视。控制系统是机器人的核心，决定机器人的性能和作业效果。基于pc104工控机和pmac2-104多轴运动控制卡的开放式控制平台在农业机器人控制系统中应用比较广泛，但价格昂贵。农业机器人的购买对象为农户，这就要求机器人的价格低廉。本课题的研究目标是以实验室已有的有四个关节和一个末端执行器的采摘机器人为控制对象，研制四关节运动控制平台，实现高精度控制，同时尽量降低控制器的本钱，以降低机器人的整体本钱，从而促进将来农业机器人的推广和应用。

◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆

厦门莫格电气自动化有限公司

本公司拥有所有产品专业检测平台，产品质量严格把关

具体询价咨询-雷琳

： （同号）

采购单比同行低10个点您拿单子，追求共赢！

◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆◆

农业机器人关节控制器的方案选择

控制精度高、响应速度快、价格低廉是农业机器人关节控制器三个zui重要的设计指标。由于永磁同步电机具有结构简单、动态响应快、定位正确的特点。本研究采用安川公司的交流伺服电机作为执行电机。 机器人控制系统需要完成的任务相当大，对控制系统的硬、软件都提出了较高的要求，本课题所研究的控制系统采用上、下位机二级分布式结构。

利用pc机作为上位机，主要完成整个系统的治理、运动学计算以及通讯任务;下位机控制器由4个独立的关节控制器组成，各关节控制器负责本关节的运动控制和反馈信号的处理，它们是并行工作的。

dsp（digital signal processor）芯片，如tms320x240x系列，内部集成了外设、具有硬件乘法器，采用哈佛结构，采用流水线操纵的指令系统，并且采用特殊的dsp指令，从而具有快速指令周期，高速运算和进行大量数据处理的能力，可实现复杂控制算法。因此，本研究采用ti公司的tms320lf2407a芯片作为下位机的处理器，用来完成clarke变换、park变换、park逆变换、pid控制等功能。

该控制系统中采用三闭环（电流环、速度环、位置环）位置伺服控制方案，以保证控制系统的位置精度。系统控制框图如图1所示。

图1 系统控制框图

本研究中采用直轴电枢电流为零的控制策略[7]即pmsm定子电枢电流在控制过程中始终即是0，定子电流中只有交轴分量，且定子磁动势空间矢量与转子永磁体磁场空间矢量正交，电动机转矩中只有永磁转矩分量，电磁转矩与交轴电枢电流幅值成正比，控制转矩的大小实际上就落实到控制定子电流幅值的大小。本课题采用的交流伺服电机是表面凸极式pmsm，采用直轴电枢电流为零的控制策略时，单位定子电流可获得zui大的转矩，铜耗下降，效率有所进步。

机器人关节控制器硬件结构设计

由于本课题采用矢量控制方法来控制伺服电机，每个电机需要6个pwm信号来控制智能功率模块ipm中igbt的通断，而每片dsp芯片只含有两个事件治理器，zui多只能控制两个伺服电机。本课题制作了2块基于dsp的运动控制板，以控制四个交流伺服电机。图2为关节控制器硬件结构示意图。

图2 关节控制器硬件结构示意图

机器人关节控制系统在硬件上分为两部分:基于dsp控制器的控制电路和基于ipm的伺服电机驱动电路。

关节控制器控制电路包括三大部分:tms320lf2407azui小系统部分、系统扩展部分和接口电路部分。其中zui小系统部分包括电源电路、时钟电路、复位电路;系统扩展部分包括存储器扩展电路、总线扩展、显示电路;接口电路部分包括rs232接口电路、jtag仿真接口。

功率驱动电路板主要实现pwm逆变器功能，实现电机相电流的检测和位置检测。功率驱动电路主要有电源部分、逆变部分、隔离部分和电流采集部分。本研究中选择三菱公司的智能功率模块pm15csj060作为逆变模块，使用m57140模块为其提供4路15v的电压，采用hcpl4504作为光耦隔离器件，进行了电源电路，隔离电路和电流采集电路的设计。

机器人关节控制器软件设计

机器人关节控制系统软件包括基于pc机的上位机控制器软件和基于dsp控制板的下位机控制软件两部分。

DynaPel CloseView DYN001.03-B2 LOT 2787 12VFC 1.2A

NCD Xplora 452 System Network Computer Explora 452

Applied Materials 0040-52328 FLEXURE 300MM PAD CONDITIONER W/DRAIN

Techne CYCLOGENE PHC-3 THERMAL CYCLER

NOR DS1405007-E5 312072-C 8004DC POWER SUPPLY 850W

NIKON 4S018-445 EPDRV2-X2A BOARD

OFEK U-375B C-375A 43-00 E-T MODULE

SMC CYLINDER CQ2WB63-01-9276?1

RAD OP-4T1L/SC13L(D?) 2780230000 100-240 VAC

NATURAL MicroSystems 6040-0012 AG-24/30 2299 BOARD

AERA FC-7810CD MFC 15 SLM CO2 15000 SCCM 4VCR NOVELLUS 22-14671-00

HP Indigo PCA HVSC CA257-00194 PRE-5003-53 Board

HP Indigo BDU CA254-02480 CA256-00185 BID HVPS for Press 5500

HP Indigo BDU MODULE CA254-00422 EBP-3253-91 for press 5000

HP Indigo BDU MODULE CA255-00063 EBP-3253-91 HVSC for Press 5000

HP Indigo BDU MODULE CA254-02661 CA256-00186 BID HVPS for Press 5500

AERA Mass Flow Controller FC-D985c TC FC-D985CT-BH 200CCM SF6 MFC

AERA Mass Flow Controller FC-D985c TC FC-D985CT-BH 400 CCM NF3 MFCB

AERA Mass Flow Controller FC-D985c TC FC-D985CT-BH 100 CCM CI2

AERA Mass Flow Controller FC-D985c TC FC-D985CT-BH 150 CCM CI2 MFC4

AERA Mass Flow Controller FC-D985c TC FC-D985CT-BH 15 CCM O2 MFC

COLOR QUAD PTOCESSOR CAM-9012 PAL 0702280883 4 PORT

HP Indigo PEU Module CA254-03520 HVSC CA256-00186

ORION PELTHERMO ETD232-SA-A-UL POWER SUPPLY 1Ph 200-240V 4.5A 800W

Vicon 110002 CI/L1 JL/CD/555 SBC With CPU / CRT2/TV OUT S-VIDEO

Vicon 110003 CI/L1 JL/CD/555 SBC With CRT2/TV OUT S-VIDEO

Ceragon Radio FibeAir 1500P-23-0B 15P-OX-E-23-TH 01-2023-1 23GHz

Ceragon Radio FibeAir 1500P-15-0B 15P-OX-E-15-728?-1W4-TH 01-2087-1 15GHz

Ceragon Radio FibeAir DX-18-2A 15P-OX-F-18-TL 01-8024-0 18GHz

Ceragon Radio FibeAir 15P-OX-E-23-TL DX-23-0B 01-2022-1 23GHz

Baldor Vector Drive VE0837A01 230V AC 3PH

Kramer FC-7501 Analog Video to SDI Converter

NetOptics Optical Bypass Switch BPO-HBSX-LC-RW

Applied Materials 1020676-1 Usrd CU Contaminated AI Shield BB

GAST 0522-V103-G18DX Pump EMERSON SA55NXGTB-4142 Motor 115V 5A 1/4HP 1725 RPM

Motorola / Nor NTFX76CA System Processor Module

Flann Microwave 15110 Precision Rotary Attenuator 6.58-10.0GHz 0-60dB 6W

CSB-201 BI-F-67 BELOW

HP AGILENT 5517C HELIUM NEON HeNe CONTINUOUS WAVE LASER HEAD 394uW

Nexcom PEAK8920VL2 4BP08920C1X10 PICMG Full-Size SHB Single Board

HP Indigo BDU Unit CA354-00127

SNELL & WILCOX KUDOS IQ MODULAR IQ1U

emecanique Schneider Modicon Premium TSXDSY08T2 8Q 24VDC 0.5A SRC TR BLK

RAD RICI-155GE_BZQ/?MN/2XUTP/NULL (B) 4140380000 RICI-155GE

ECI / Lightscape MO_DW16MDR-SAV 16MDR100M-SAV3-?01 121830 217008-6712 W/OPT 191

Delta SMPS 48V 800W (L) D0005565 Rev 01 ON101872 17A Industrial Power Supply

AIT PV-200 Machine Readable Travel Document Reader

Sunrise ecom SunSet xDSL Handheld Tester with Accessories
Ceragon FIBEAIR 1500-18-1-B 15-O-E-18-L-TH 01-6027 RX:17700-18200 TX:18710-19210

HP Agilent 5060-3414 Board FOR HP 6622A

Ceragon FIBEAIR 1528-38-5B 15-0-E-38-L-TH 01-0310-4 38GHz RADIO

GE Medical Systems printer 5130/240 2243175

Applied Materials CU C4 CLEAN 1270 PAD PLATE EXH

Applied Materials lus P1266 VIA DEPOSHIELD CLEANED

CERAGON IP-10C FibeAir IP-10C-7-161I-4?W5-TL 20-0006-0 Unknown As Is!

CERAGON IP-10C FibeAir IP-10C-7-161I-1?W2-TL 20-0002-0 Unknown As Is!

LOT OF 2 HORIBAstec LF-210A-EVD IV-LF-COMBO-02 Mass Flow Meter

LOT OF 2 HORIBAstec IV-LF-COMBO-02 IV-2410AV-03 VALVE

Futaba 1P00A702-01 GP1045A18 EL DISPLAY 8" * 2.5"

Antique rare Jewish Passover Haggadah Book Vilnius 1913

Enlarge
IITC MODEL 229 AMPLIFIERS

NOR NT7B10AADU BCM200 Business Communications Manager 200

Pneumatic PART NUMBER 0040-01108 002 81204284

NOR NTUM24AA

NOR OC-48 STM-16 T/R SHORT REACH NTCA30CK

HP Q3660-80101 REV B CARD

NOR NTUM17AA-06 CARD

Nor NTUM30AA POWERWAVE AMPLIFIER REMEC QBS-476

Atari 800XL CO25925-001 REV-R3 PAL 800XLF CA025926-001 9-84 BOARD

ASML 4022.635.81433 MANIFOLD FNPT 2 1/2-2X NUT DN50

Galil Motion Controls DMC220 CONTROL CARD DMC-220

SVG STATION CPU BD 80166F

Cisco 881 CISCO881W-GN-P-?K9 Security Router W/CHARGER

Cisco 881 CISCO881W-GN-A-?K9 Security Router W/CHARGER

Cisco 881 CISCO881W-GN-E-?K9 Security Router W/CHARGER

CONTROL 121-0400 PCB BOARD

Ciena LightStack MX MX80P MX-80P B-820-1159-xxx Carrier Ethernet Platform 10G

Nemic Lambda EWS1500-5 EWS15005 Power Supply 2055W LEVEL 5

HP Agilent E3121-26611 E3121-66611 NFTS Pin Board for E3101A E3102A E3102B

CISCO CATALYST 2955 WS-C2955T-12 12 PORT SWITCH W/ PWR-2955-AC= AC POWER SUPPLY

Turbine Engine combustion chamber for Collectors #2

Ciena LightStack MX MX55P-23 820-1059-XX B-700-1008-001 W/DUAL AC PS

Eppendorf Mastercycler Gradient 5331-01689 230V 50-60Hz 500W

Ciena LightStack MX MX55 820-1059-XX B-700-1008-001 W/DUAL AC PS

Polycom SoundStation IP 6000 2201-15600-001

SIGNAL 09062 KF99D300-1 3045T340-001 TF3045

MAXIM DS26528 Octal T1/E1/J1 Transceiver

Planar EL552-256-Q1 ECB 801-0151-03 EL Electro Luminescent Display

NSK JAPAN H20 Actuator 4002-8218-01-00?2

SOLCON Digital Reduced Voltage Starter 17-400-230-230-?9

NIPPON ALEPH PS-4221

ADAM II REV 03 NX-A383 NX-E377 Eve II REV 05 E252622 Board

HP Agilent 6622A System DC Power Supply With Opt 700 750

NATURAL MicroSystems AG-T1/E1 BOARD

HP Indigo BDU MODULE CA254-00424 EBP-3253-91 BID HVSC for Press 5000

LOT OF 2 THK SSR20XW2SSC1FM + 580LHF-II Linear bearings rails YE1930KB & YE1930
Cisco 3825-HSEC/K9 Security Bundle WITH POWER SUPPLY

2x ATRICA A-2100 OPTICAL ETHERNET EDGE SWITCH CHASSIS AC POWER SUPPLY AT20001

Tadiran Coral MSX CPU-386SX Main Central Processor Card 2441321300402

Kyosan HV-PS4C DC POWER BOX 1.5Kg

Applied Materials/AMAT 0200-00410EC Gas distribution Plate

JVC TK-1270U RGB W/125260 RAINBOW TV H6X8-II 8-48MM 1:1.0 TIFFEN 46-52/KENKO KVC

LOT OF 5000 L.C.C. CONTROLE CAPACITORS EC04CE0820KHB

YASKAWA SGMAS-08ACA4C AC SERVO MOTOR 750W 200V 5.4A

EMR 140-150MHz Receive Preselector 02415/C 3-4MHz pass band

LS LEROY SOMER FMV-2303 FMV2303 1.3M

V-Tex Rollcam Vacuum Slit Valve V123619 IRF-11047-2-01 Z-06006-4-01 Z-06013-4-01

NIKON 4S018-171-2 OPDMTH3 BOARD

NATIONAL ELECTRONICS NL10254-ILT

MKS Control Throttle Valve 253B-13264

Hitachi MMPC-04 Control Card PCB for Meiden UA011/393H

KOLLMORGEN Servotronix PRD-0055000B-00 SEP 206 XDC controller motor 0090-A3051

AMAT Applied Materials 0010-09340 CVD Susceptor Lift

Applied Materials/AMAT 0020-31628 Washer Insulation ESC

Varian extrion division H0809-1 Wafer Counter

Varian Research end Station Controller 520 Solid State Controller EH-1610001

Varian PCB ASSY Motion Controller Card E15000201 MCW-A E-E14000201

LOT OF 2 THK Linear Bearing Blocks 855mm YE4887 & YE4888

Moeller DIL M185 DIL M250-XSPE Pole Contactor

TTC T-BERD 224 PCM ANALYZER OPTION 11704 43016 13466 12042 42659 41502 W/PROBE

Barracuda Web Filter 410 Security Appliance

Bertan 2614A Caution High Voltage Option 1 1KV 4mADC Power Supply

LOT OF 2 IKO NIPPON THOMPSON LSBT 16 C1 R200 T1 S2 ROLLER BEARING 5-20110124

Oriental Motor Vexta DFU1514W-A2 5-Phase Driver

Tadiran Coral MSX 449131100 Main Central Processor 24413310201773 24413210100063

GORE / KEY-BAK 3 WAY

Oriental Motor VEXTA FBLM5120W-GFB22 Motor 120W With GFB5G10 Gear Head

Advantech CI6BM-B1 Single Board Computer SBC

Tadiran Coral 3OT Card 72443231700L 2443201200105 2443171200130

ECI ASF Module

LOT OF 2000 GLORIA 63V 68uF CAPACITORS

Aethra AC2036 Router Network Termination 12V 0.35A

LOT OF 2000 GLORIA 50V 22uF CAPACITORS

LOT OF 10000 SYFER 8111M1003P90DC 100V 3.9uF CAPACITORS

ASML SERV 454.71022 Connecting Tube BP Assy 4022 454 71022

HP INDIGO CA345-18773 HB IMPRESSION BRAKE (WS4600)

Aerotech Servo Amplifier BA10-40

ITS ecom EAR-Elite II00311520 & VMP Pro 00311220 Voice Mail System

TTC FIREBERD 500 INTERNETWORK ANALYZER HARD DRIVE 2G RAM 32M FB520 FB530 MODULE

ACS TECH80 SB-1292 DERA EF Universal Motion Control Module 60-180VDC 6.9A

STIL CHR-450 HIGH RESOLUTION OPTICAL SENSOR

LOT OF 2 BAUSCH & LOMB Stereo ZOOM 0.7X - 3.0X Microscope Head

Applied Materials / AMAT 0021-11764 9101SS24P6

Gamatronic HPS 50-16U Power Supply 95-270V 50/60Hz 10A
Metrohm Herisau E586 Labograph

PWR-02100-R DC POWER SUPPLY

YASKAWA AC SERVO MOTOR SGMAS-12ABA-TE1?1 200V 8.5A 1150W

PELCO LRD41C22-2 Coaxitron Vari-Speed Receiver for Legacy 24VAC

Delta Tau PMAC2-PC Turbo-Ultra-Lit?e 603182-102 603182-552

ECI DCF-95-3 DCF-95-LC To Targoviste with opt 030

MultiLink SDL IOAP-MOD9140-F-?F-1 10Gb/s Zero Chirp Amplitude Modulator

LEUTRON VISION PicPort-Stereo 11020 Card PICORT MONO/STEREO

AceCo Precision Susceptor S33-1641-18 0200-10677

ATI MX200 Nanoamp 3-Channel Mic/Line Basic Stereo Mixer W/BBU100

ATI MX200 Nanoamp 5 Way Basic Stereo Mixer W/BBU100

LEICA LFS+Z 2 301-389.040-007?/01 VME BOARD

Systro EPP-4 Controller 4-Achs-Schrittm?otor controller AC 115V/230V

Varian Semiconductor E11303710 REV B IN PN: 8528105070009

NSK MCM05 Applied Materials 0021-77709 Linear Actuator W/YASKAWA AC SERVO MOTOR

Gamatronic HPS 50-16 Power Supply 230V 50/60Hz 6A

Tokyo Depo Shutter Y-AL LA 3D10-101277-V2

ALCA 736 17025 AAAA ASTROLINE MCA-2 CAS Line Monitor for 2048 73617025

Yaskawa SGM-08A3G14B AC Servo Motor 750W 200V W/HD CP-25A-5-J401A-?SP Head Gear

Digi STS 1008 SCSI Terminal Server

HP Indigo BOARD ASSY WHIF2 EBE-2305-53 EBE-1128-03

Trimble GeoExplorer II Handheld GPS Unit With Accessories & Software

S&T Semiconductor & Technology WBS0076 Retainer Ring Titan 1

HP 37732A ecom Datacom Analyzer with OPT 002 005

Carl Zeiss 39-26-34 392634 VWH 200/C 250F-3B 220-240V 900VA Power Supply

RAD OP RADOP USER INTERFACE DEBUGGING PANEL

NOVELLUS SYSTEMS INTERFACE FE/LL C3 VECTOR 26-283968 03-283968 BACKPLANE BOARD

IBM 19P5427 19P6131 Lto Ultrium2 Tape Drive

Tadiran Coral 8SDT 72449231100 8 Circuit Station Card

PENTIUM 586 CPU CARD REV A3 02-1 PCA-6154 1906615414 W/ PS2/COM/VGA

GE Motor 0523-103Q-SQ588?DX

UNIT MFC UFC-1660 3030-01878 500 SCCM Gas: N2 Mass Flow Controller

Magnetek Digital Reduced Voltage Starer RVS-DN 17A 400V 50/60Hz

Applied Materials Turning innovations into industries Eimac YU191B Tube

FENWAL ANALASER 200 High Sensitivity Smoke Detector

Advantech 6157 PCA-6157L-BARE Full-Size CPU Board WITH Accessories

Advantech PCA-6159 PCA-6159L-00A3 Full-Size CPU CARD WITH Accessories

Tektronix 2430A Digital Oscilloscope 150MHZ 2CH with user manuel

Agilent HP 85024A High Frequency Probe

NOVELLUS 27-261811-00N Berkley Process Control BXi4/2-01-B BXi Controller 4-Axis

Festo / Applied Materials / AMAT 0010-05311 Megasonic Box 300MM W/6EP1-331-1SH0?1

NIKON 4S018-591 4S081-539 BOARD

Applied Materials / AMAT 0040-06524 BLADE SHUTTER

NIKON 4S018-386-1 BLDRVX2 BOARD

Agilent HP 7673A Autosampler Controller 18594A

MOTION ENGINEERING SA-NOV CONTROLLER 4-Axis 27-10112-00

GEMU 1436 cPos Inligent Digital Elec-Pneumatic Positioner W/CD

CERAGON RFU-CX-8-311A-1?W4-TL 01-X08597L0 RX 8043.52-8163.47 TX 7732.2-7852.15