Research On Teaching Motion Control Of Eight-axis Spraying Robot Arm

With the rapid development and popularization of industrial robots,industrial robots have been widely used in the field of spraying.At present,most of the widely studied spraying robots are six axis robots,which have small working space.In order to increase the working space of the spraying robot,this paper studies the eight axis spraying robot.The motion control system of spraying robot is designed to control the motion of spraying robot accurately.In view of the large impact in the process of movement,based on online programming teaching,get teaching point,according to a series of teaching point information,carry out cam curve trajectory planning based on five-order non-uniform B-spline curve,reduce the impact of joint movement,so that the joint can run smoothly.The planned trajectory realizes accurate tracking control through PID+speed feedforward+acceleration feedforward,the feasibility of the trajectory planning algorithm was verified through simulation and field experiments,thereby improving the spraying effect.The main research contents are as follows:(1)Establish the linkage coordinate system of the spraying robot,and write its D-H parameters accordingly.Solve the forward and inverse kinematics equations,and verify the forward and inverse kinematics solutions in MATLAB.Based on the Monte Carlo method,the work space of the spraying robot is simulated to verify the correctness of the kinematics equations.(2)In cartesian space,plan the trajectory of straight lines,arcs,and five non-uniform B-spline curves,and perform simulations.In the joint space,the cam curve trajectory planning and the cam curve trajectory planning based on the five-order non-uniform B-spline curve are carried out,the simulation is performed to verify the effectiveness of the algorithm,so that the end trajectory is smooth and continuous and the impact generated during the joint movement is reduced.(3)Carry out the software and hardware design of the motion control system.The hardware design mainly introduces the motion controller,servo system,and reducer.In terms of software design,the requirements of the control system are analyzed in detail,and the program of the motion control module and file module is written,and finally called through the designed man-machine interface.(4)Design the control system with GUC-800-TPV-HD-M23-L2-FXG as the control core.Based on this control system,it is verified that the proposed spraying robot trajectory planning method can complete the spraying task well,and make the spraying robot in the whole working process,the end motion trajectory is smooth and continuous,reducing the impact generated during the spraying motion.