Control System Research On The Forming Robot Of Bending Wood

On the basis of the narration of the history, researching status and developing direction of robot technology and combination of the current technology status of wood bending, the thesis brings forward the total design of the control system of bending wood robot. The mathematical model of the bending process, the track design of bending manipulator and the calculate method are also studied to made the bending wood can be machined by numerical control.The thesis also analyzes the principle of motion controller and other related technology and designs the DSP-based five-axis step motor controller not only in the whole but also in related hardware and software. All this design is combined with the study and manufacture of bending wood robot. The motion controller based on DSP and FPGA has excellent reliability and stability and can used in bending wood robot. It can complete all kind of high-capability motion control simply by consulting the explanation of corresponding functions, using them and setting the corresponding parameter. So it made the design of software easy in bending wood robot.In the total design in control system of bending wood robot, we adopt the two-class control scheme based on Advantech industrial computer and DSP-based motion controller. Module design method is adopted in hardware of control system to heighten the stability of system and make it easy to upgrade. The software is completed with the combination of the hardware and is programmed with Visual C 6.0. A set of software system that is based on module and Windows is designed for bending wood manufacture robot. It includes the realization of system software key management function, programme of software on motion control and the study of system control software. The hardware and software performance of the control system is tested by the machine examination in the end.The fuzzy control scheme to the wood bending process is brought forward and the fuzzy controller that has adjustable scale factor is designed. The methodof out-line computing and on-line looking up fuzzy control table made control process more real-time and bring up academic basis for the fuzzy control of bending process.This thesis is with the nation "863" high technology item "bending wood robot product line" for the subject source, and has got subsidizing of it.