Application Of Robot In Profiled Tank Welding Based On DSP Multi-axis Motion Controller

At present, the demand for crude oil and refined oil products is growing in our country,while the previous storage tanks have not adapt to the development of the times, thedevelopment of oil tank is in the direction of large, the body shape of tank is also varied. Thecommon shape of tank is cylindrical, square, spherical and so on, in the welding process ofthe end cover, labor intensity of manual welding is extremely large, it is also dangerous, sothe welding robot which is instead of artificial labor has been widely applied.In the process of application, the key technology part is the robot’s control system, thecontrol system previous robot is relatively closed, usually, computer, written language andprocessor are special, which limits the using range and motion space of the robot’s controlsystem, the in-depth research and development on the system is extremely inconvenient. moreopen and convenient control system has become the development direction of robot’s controlsystem. The purpose of this research is to welding robot motion controller is applied to thetank cover, Through the way of multi-axis linkage control, the movement of the manipulatorcan complete welding of end cover for different type of oil tanks, so as to make full use offeatures of real-time, high accuracy and good stability on the motion controller.First of all, the paper introduces development of motion controller at home and abroad,understands the application range of motion controller. At the same time, elaborates the robotthat applied in industrial production, this paper puts forward that motion controller is appliedto different types of oil tanks in the welding of end cover.The second, in view of design purpose on the welding robot of different tanks, thesystem adopts solution of “PC+motion controller”. The overall scheme of the controlsystem is determined, the paper introduces system thought and design principle of the scheme,designs the hardware part of the system, completes the planning and implementation oftrajectory in welding process. The paper analyses the selection of F28335motion controller.The system uses hardware control to realize three axis synchronous motion control, adopts the way of "pulse and direction" to control the servo motor.Then, on the basis of the hardware to realize functions，the software of robot’s controlsystem is designed. The system adopts the idea of modular design, designs main program ofsoftware for motion control system based on F28335.Moreover, the stepper motor controlprogram, interpolation control, error control program are designed, ePWM module isintroduced in detail in the hardware configuration of system, the synchronization of the outputpulse is implemented by software.The last, based on the motion control experiment platform of F28335, the systemtests linear interpolation on the uniaxial conditions and realizes circular interpolation ofwelding robot, tests speed and placement of the motor. Through experimental analysis, thesystem has good stability and portability.