Trajectory Planning And Control For Valve Electric Upsetting Forming Process Robot

Valve electric upsetting forming process robot (hereinafter referred to as electric upsetting robot) is an industrial robot applied in the valve production process, which is used to achieve valve upsetting stamping process automation in the production line for valves, improve product quality and efficiency in production, and reduce the labor intensity. For industrial robots, the most important thing is to complete real-time control, trajectory control, and state feedback etc. for actuators.In this paper, electric upsetting robot is adopted as an object of study. Trajectory planning and its simulation for the robot's actuators are achieved, based on the in-depth understanding of its basic structure and the integrated applications of institutions coordinate transformation, kinematics and trajectory planning etc. At the same time the trajectory control is implemented on the electric upsetting robot motion control system.Firstly, the coordinate frame of its links is established; and then, the transform matrixes and the kinematical equations between the links are established; at last, the robot inverse kinematics problem is solved. MATLAB software is used in the calculation of electrical upsetting robot's work space. Besides, trajectory planning of actuators in the electric upsetting robot is completed respectively in the joint space and Cartesian space. Then the electric upsetting model, which was created in the three-dimensional design software Solidworks, will be imported into ADAMS for kinematics simulation and analysis. In this paper, the architecture of"PC + Motion Controller + PLC"is adopted, combined with VC + + software to built motion control platform in order to realize the electric upsetting trajectory control.The control system in this paper, using PC as an upper computer of motion controller and combining the motion trajectory control and information processing capacity of PC-organically to achieve valve upsetting robot actuators trajectory planning and control, has great information processing ability, accurate trajectory control, and good versatility.