基于FreeRTOS的桶装水搬运机器人控制系统研究.pdfVIP

机械工程师

MECHANICALENGINEER

基于FreeRTOS的桶装水搬运机器人控制系统研究

何高清，贾辰昊，彭良霖

（合肥工业大学机械工程学院，合肥230009）

摘要：

针对工业机器人运动控制装置二次开发难度大、专业应用性差，设计一款以STM32F4系列单片机为核心，基于

FreeRTOS操作系统的桶装水搬运机器人的控制系统。根据现场总线、实时操作要求、伺服控制方式等要素，设计运动控制

器硬件和控制系统软件的整体方案；根据最短任务时间调度设计优化FreeRTOS操作系统任务调度算法；根据机器人结

构、桶装水搬运路径和码垛方式，通过分析常用行进轨迹算法，优化5次多项式的轨迹方程，并通过MATLAB进行仿真，验

证轨迹算法的准确性，对于工业搬运机器人系统设计具有一定参考意义。

关键词：

FreeRTOS；STM32；任务调度算法；轨迹规划

中图分类号:TP273文献标志码:粤文章编号：员园园圆原圆猿猿猿（圆园24）01原园010原园5

ResearchontheControlSystemofBucketHandlingWaterRobotBasedonFreeRTOS

HEGaoqing,JIAChenhao,PENGLianglin

(CollegeofMechanicalEngineering,HefeiUniversityofTechnology,Hefei230009,China)

Abstract:Aimingatthedifficultyofsecondarydevelopmentofindustrialrobotmotioncontroldeviceandpoorprofessional

application,thispaperdesignsacontrolsystemofbarreledwaterhandlingrobotbasedonFreeRTOSoperatingsystemwith

STM32F4seriessingle-chipmicrocomputerasthecore.Accordingtothefieldbus,real-timeoperationrequirements,servo

controlmodeandotherelements,theoverallschemeofmotioncontrollerhardwareandcontrolsystemsoftwareisdesigned.

ThetaskschedulingalgorithmofFreeRTOSoperatingsystemisdesignedandoptimizedaccordingtotheshortesttasktime

scheduling.Accordingtotherobotstructure,barreledwatertransportpathandstackingmode,thetrajectoryequationofthe

quinticpolynomialisoptimizedbyanalyzingthecommontraveltrajectoryalgorithm,andtheaccuracyofthetrajectory

algorithmisverifiedthroughMATLABsimulation,whichhascertainreferencesignificanceforthedesignofindustrial

transportrobotsystem.

Keywords:FreeRTOS;STM32;taskschedulingalgorithm;trajectoryplanning

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