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Robot denetimi için özgün bir el terminali tasarımı ve inşaası

Başlık çevirisi mevcut değil.

  1. Tez No: 55813
  2. Yazar: AHMET YILDIZ
  3. Danışmanlar: Y.DOÇ.DR. T. BERAT KARYOT
  4. Tez Türü: Yüksek Lisans
  5. Konular: Astronomi ve Uzay Bilimleri, Astronomy and Space Sciences
  6. Anahtar Kelimeler: Belirtilmemiş.
  7. Yıl: 1996
  8. Dil: Türkçe
  9. Üniversite: İstanbul Teknik Üniversitesi
  10. Enstitü: Fen Bilimleri Enstitüsü
  11. Ana Bilim Dalı: Belirtilmemiş.
  12. Bilim Dalı: Belirtilmemiş.
  13. Sayfa Sayısı: 36

Özet

ÖZET ROBOT DENETİMİ İÇİN ÖZGÜN BİR EL TERMİNALİ TASARIMI VE İNŞAASI Ülkemizde ve dünyada robot teknolojisi hızla gelişmektedir. Robot üreten her firma kendi kontrol sistemlerini ve yazılımlarını da geliştirmektedirler. Biz de bu projede HSR-4 robotunu uzaktan kontrol edebilmek için el terminali ve yazılımını geliştirmeye çalıştık. Tasarladığımız el terminali, günümüzde sanayide kullanılmakta olan bir çok el terminalinden biraz farklı yapıdadır. Sanayide kullanılan el terminallerinin çoğu tuş ağırlıklıdır. Terminalin fiziksel boyutları sınırlı olduğundan işlerlik kazandırılacak fonksiyon sayısı da sınırlı olmaktadır. Genelde fonksiyon sayısını arttırmak için tuşlara ikinci fonksiyonlar atanır bu da kullanımı zorlaştırmaktadır. Bizim planladığımız el terminalinde ise bir LCD gösterge ve altı adet tuş bulunmaktadır. Bu sayede ufak bir alan içerisinde daha fazla fonksiyon işlerlik kazanabilecektir. Tasarladığımız el terminali tasarım çalışması iki ayrı konuda olmuştur. Bunlar donanım ve yazılım. Donanım, çalışmaları sırasında şu adımlar izlenmiş ve elde edilen sonuçlar aşağıdaki gibidir. - ihtiyaçların belirlenmesi ve uygun birimlerin seçilmesi : Mikrodenetleyici olarak Hitachi H8-534, gösterge olarak Hitachi LMG6401PLGE LCD'si uygun olarak seçildi. - Birimler seçildikten sonra mikrodenetleyici kartı tasarımı yapıldı, baskılı devre çizimleri yapılarak çift yüzlü baskılı devreleri oluşturuldu. Kartın test işlemleri yapıldı ve gözden kaçan noktalar düzeltildi. - Mikrodenetleyici kartının problemsiz olduğu anlaşıldıktan sonra, çevre birimler ( LCD ve tuş takımı ) sisteme bağlandı. Yazılım aşamaları ise şöyledir; - Önce kontrol programı C dili kullanılarak kişisel bilgisayar üzerinde geliştirildi. - Mikrodenetleyici kartının çevre birimler ile bağlantısını sağlayacak protokol yazılımları geliştirildi. - C dilindeki kontrol programı H8-534 makine diline çevrildi ve eproma yüklenerek mikrodenetleyici kartı üzerinde test edildi. Eksiklikler giderildi ve robot kontrol bilgisayarı ile bağlantı sağlandı.

Özet (Çeviri)

SUMMARY AN ORIGINAL HAND HELD TERMINAL DESIGNING AND PROGRAMMING FOR ROBOT CONTROL We sutied on designing and programming a hand held terminal for controling for HSR-4. We designed an orginal H8-534 microcontroller board, EPROM board and RAM board. Microcontrollers are digital computers particularly designed to supervise, manage monitor, and control various processes in industry, business, defense, aerospace, and other areas of application. With the advent of VLSI technology, microcontrollers are becoming essently single-chip microcomputers. As the technology advances, microcontroller chip attain higher density, and more and more equivalent transistors can be placed on a single chip-over a million at the beginning of the nineties and over 50 million around 2000, as promised by some chip manufacturers. A microcontroller chip, being a self-sustained microcomputer, contains in addition to a central processing unit ( CPU ), cache, main memory ( more rriemory is placed on a chip as technology develops ), input / output ( I/O ) interfaces, direct memory access ( DMA ) conrollers, interrupt handlers, timers and other subsystems necessary to implement an efficient microcontroller. Microcontrollers, being a particular case of digital computers, have to be programmed so that they can perform their assigned tasks. In the control of relatively simple processes, such as a single traffic intersection, one can probably get by with a relatively short and simple assambly language program. However, many processes are very complicated and require lengthly and sophisticated software. In such cases, assembly language programming is too time-consuming and impractical. Thus, high level language ( HLL j programming ( such as in C, ADA, or PASCAL ) becomes an indispensable necessity. Naturaly, one has to develop efficient approachhes for generating useful and reliable microcontroller software, be it in assembly, HLL, or a combination of the above. We Used H8-534 microcontroller. H8-534 is high-performance single-chip Hitachi-original microcomputers, featuring a high-speed CPU with 16-internal data paths and full complement of on-chip supproting modules. H8-534 is ideal microcontrollers for a wide variety of medium-scale devices, including both office industrial equipment and consumer products. The CPU has a general-register architecture. Its instruction set is highly orthogonal and is optimized for fast execution of programs coded in the high-level C languageOn-chip facilities include large RAM and ROM memories, numerous timers, serial I/O, an A/D converter, I/O prots, and other functions for compact imlementation of high-performance application systems. - Features ofH8-534 microcontroller ; H8-534 is CMOS microcomputer units ( MCU's ) comprising a CPU core plus a full range of supprting functions-an antire system integrated onto a single chip. The CPU features a highly orthogonal instruction set thet permits addressing modes and data sizes to be specified independently in each instruction. An internal 16-bit access to on-chip memory enhance the CPU's data-processing capability and provide the speed needed for realtime control applications. The on-chip supporting functions include RAM, ROM, timers, a serial communication interface ( SCI ), A/D conversion, and I/O prots. An on-chip data transfer controller ( DTC ) can transfer data in either direction between memory and I/O independently of the CPU. - Operating Modes ; H8-534 microcomputer unit ( MCU ) operates in five modes numbered 1,2,3,4, and 7. The modes is selected by the inputs at the mode pins ( MD2 to MDo ) at the instant when the chip comes out of a reset. The MCU mode determines the size of the address space, the usage of on-chip ROM, and the operating mode of the CPU. The MCU mode also affects the functions of I/O ports. Modes 1 to 4 are referred to as“expanded”because they permit access to off- chip memory and peripheral addresses. The expanded minimum modes ( modes 1 and 2 ) support a maximum address space of 64 kbytes. The expanded maximum modes ( modes 3 and 4 ) support a maximum address space of 1 Mbyte. Interrupt service is slightly slower in the expanded maximum modes than in the other modes because the CPU has to save its code page register. In single-chip mode all ports are available for general-purpose input and output, but off-chip addresses cannot be accessed. - CPU and features ; The H8-534 has the H8-500 Family CPU; a high-speed central processing unit designedfor realtime control of a wide range of medium-scale office and industrial equipment.Its Hitachi-original architecture features eight 16-bit data pats, and an optimized instruction set. The main features of the H8-534 CPU are;. General-register machine - Eight 1 6-bit general registers V!- Seven control registers ( two 1 6-bit registers, five 8-bit registers). High speed: maximum 10 Mhz At 10 MHz a register-regisre add operation takes only 200 ns.. Address space managed in 64-kbyte pages, expandable to 1 Mbyte Page registers make four pages available simultaneously: a code page, stack page, data page and extanded page.'. Two CPU operating modes : - Minimum mode: Maximum 64-kbyte address space - Maximum mode: Maximum 1Mbyte address space. Highly orthogonal instruction set Addressing modes and data sizes can be specified independently within each instruction.. 1.5 Addressing modes Register-register and register-memory operations are supported.. Optimized for efficient programming in C language In addition togeneral registers and orthogqnal instruction set, CPU has special short formats for frequently-used instructions and addressing modes. -DTC and features; The H8-534 include a data transfer controller ( DTC ) that can be started by designated interrupts* to transfer data from a source address to a destination aderss located in page 0. These addresses include in particular the registers of the on-chip supporting modules and I/O ports. Typical uses of the DTC are to change the setting of a controller register of an on-chip supporting module in response to an interrupt from that module,or to transfer data from memory to an I/O port or the serial communication interface. Once set up. the transfer is interrupt-driven, so it proceeds independently of program execution, although program execution temporarily stops while each byte or word is being transferred. The main features of the DTC are;. The source address and destination address can be set anywhere in the 64- kbyte address space of page 0.. The DTC can be programmed to transfer one byte or one word of data per interrupt.. The DTC can be programmed to increment the source address and/or destination address after each byte or word is transffered. vii. After transffering a designated number of bytes or words, the DTC generatesa CPU interrupt with the vector of the interrupt source that started the DTC. This designated data transfer count can be set from 1 to 65.536 bytes or words. - PWM Timer and features ; The H8-534 has an on-chip pulse-width modulation ( PWM ) timer module with three independent channels ( PWM1, PWM2 and PWM3 ). All three channels are functionally identical. Using an 8-bit timer counter, each PWM channel generates a rectangular output pulse with a duty factor of 0 to 100%.The duty factor is specified in an 8-bit duty register ( DTR ). The main features of PWM timer module are ; * Selection of eight clock sources * Duty factors from 0 to 100% with l/'50 resolution * Output with positive or negative logic - Serial Communication Interface; The H8-534 has two serial communication interface channels ( SCI1 and SCI2 ) for transferring serial data to and from other chips. Each channel supports both synchronous and asynchronous data transfer. Communication control functions are provided by eight internal registers. The features of the on-chip serial communication interface are; * Asynchronous mode SCI1 and SCI2 can communicate with a UART (Universal Asynchronous Receiver/Transmitter), AC1A (Asynchronous Communication Interface Adapter), or other chip that employs standard asynchronous serial communication. Eight data formats are available. - Data length: 7 or 8 bits - Stop bit length: 1 or 2 bits - Parity: Even, odd or none - Error detection: Parity, overrun, and framing errors * Synchronous mode SCI1 and SCI2 can communicate with chips able to synchronous data transfers with clock pulses. - Data length: 8 bits - Error detection: Overrun errrors viii-A/D Converter The H8-534 has an anolog-to-digital converter module which can be programmed for input of anolog signal on up to eight channels. A/D conversion is performed by the successive approximations method with İ 0-bit resolution. The features of the on-chip A/D module are;. Eight anolog input channels. Sample and hold circuit. 10-Bit resolution. Rapid conversion. A/D conversion can be started by external trigger input. We used LMG6401PLGE liquid crystal display as monitor. The features of LCD are;. 240 (W) x 128(H) dot. EL backlit type. Controller LSI: HD6 1 830 is built in. Color tone; New-gray. Viewing direction : 6 o'clock The main modul of the LCD is HD 16830 Dot Matrix Liquid Crystal Graphic Display Controller. The HD 16830 is a dot matrix liquid crystal graphic display controller LSI that stores the display data sent from an 8-bit microcomputer in the external RAM to generate dot matrix liquid crystal driving signals. The HD 16830 is produced in the CMOS process. Thus, the combination with a CMOS microcomputer can accomplish a liquid crystal display device with lower power dissipation. We wrote the control program in C language and convert the H8-534 assambler language. We provided our RS232 protocol, keyboard protocol and monitor protocol software. We had some problems about design and programming. But we solwed that problems. End of the our study, the hand held terminal conectted with robot control system and controlled the robot. IX

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