Study On The Control System Of Arc Welding Robot Based On WinCE Operating System

This study comes from the National Science and Technology Major Projects of―Numerical Control Machine Tool and Based Manufacturing Equipment with High Range‖. The major work of this article is the study of trajectory planning algorithm and the design of control system software of 6 kg arc welding robot. At present, the arc welding robot is being applied widely in our country and the needing amount is large. However, the arc welding robots applied are mainly imported from oversea country companies. Consequently, it is of great significance to realize the self-developing design and industrial production of arc welding robots.This article designed the new type 6 kg arc welding robot with China’s national conditions, basing on analyzing the investigation situation of arc welding robots and their control systems from our country and oversea world. It has a lot of improvement on control systems and their software, compared with first generation teaching and playback robots. Additionally, its stability and reliability also have much improvement.The kinematics and dynamics algorithm of robot is the basic of trajectory planning and movement control of arc welding robot. Aiming at the configuration of 6 degree of freedom (DOF) arc welding robot, in consideration of its geometric construction and singularity, the present article adopted the combination of geometric projection and analysis method to solve the kinematics inverse solution of robot. The above method can reduce the computational complexity and improve the real-time characteristics of algorithm compared to analysis method. Based on kinematics investigation, the singularity of robot is analyzed and they provided theoretical basis for motion control program algorithm.Due to the accurate motion paths, the trajectory planning of arc welding robot is mainly processed in Cartesian Space. The basic interpolation algorithm of space line and circular arc are studied. Based on the space line and circular arc interpolation, the spatial interpolation algorithm of special motion mode (put arc movement) of arc welding robot is studied, with the adoption of vector interpolation method.The present control systems of industrial robot are mainly Windows XP and it has a certain of problems on the real-time and stability characteristics. Aiming at the common matter, embedded operating system is adopted. In consideration of the difficulty degree of system and application program, Windows Embedded CE operating system is chosen. The upper computer control system is satisfied by operating system, with accustoming WinCE operating system and the relating function. Afterwards, the upper computer program based on WinCE operating system was developed with the design philosophy of modularization. Thus, the communication of control system was accomplished.After the debugging of control system, a series of test experiment aiming at the repeat location accuracy of arc welding robot terminal part is finished, with a satisfying result as expected. At last, the weld experiments of arc welding robot’s space line and arc welding line. The results have a good agreement with that is expected. The present article also verified the validity of trajectory planning interpolation algorithm by a series of experiments.