High Precision&Real-time Control System Research Of Photoelectric Robot

As an important branch of robot, photoelectric robot not only plays animportant role in the optoelectronic information industry, has also been widelyapplied in industrial field, the level of its research has become an importantstandard to measure industrial automation.The research of photoelectric robot includes many self-contained areas, suchas trajectory planning, optical signal processing, computer vision, kinematics,control theory and real-time communication. The difficulties in photoelectric robotcontrol involves high-precision motor control, trajectory planning, real-timecommunications and accurate position recognition, etc. So far, the key technologyis still mainly mastered by a few foreign research teams, like KUKA, ABB.etc.The photoelectric robot control system is discussed in this dissertation. PCworks as the host computer, FPGA works as the lower machine for its high parallelexecution capability, is responsible for instruction execution. The robot kinematicsand trajectory planning algorithm is simply analyzed. The FPGA hardware system,the software part and the communication module have been designed andcommissioned.The hardware part, the vision module is introduced, realized visual navigationthrough USB camera. The control PCB board has been designed, including theFPGA core, servo drive and photoelectric sensor IO interfaces.The software part is designed in the Quartus II Editor. Get various movementcontrol mode compatible, based on time division multiplexing. Count the encoderpulse based on the four-times frequency multiplication principle. Meanwhile, a newmethod of high-precision robot homing has been put forward.As to the communication module, the serial communication instructionsand response mechanism are designed, system communicates stably through RS232.Furthermore, the POWERLINK Industrial Ethernet has been applied in thisphotoelectric robot system, simple instructions’ communication tested. After continuous testing and improvement, the photoelectric robot system hasbeen successfully applied to the workpiece loading and unloading and palletizing.The system works stably, and has up to0.01mm precision, up to5.2m/s speed, upto10s axis zero homing time, less than2pulse’ zero error.