The Intelligent Control Research Of Industrial Robots Based On Fieldbus

First, the article describes the history of the development of industrial robots, current status and development trend which indicates that the study of industrial welding robot control system for the purpose and meaning. And also an overview of commonly used field bus characteristics, development status and research directions, elaborated on the system used in ETHERNET Powerlink real-time Ethernet communication protocols, working principle and realization method of communicationSecondly, this paper introduces the industrial robot kinematics analysis. The robot kinematics and inverse equations with solutions for the derivation and solution of concrete, and presents a suitable for the robot inverse kinematics algorithm. It also describes hardware and software systems of the welding industrial robot control system. B&R high performance control system using PCC (Programmable Computer Controller) as the main control unit, the paper describes in detail the control system needs of the PCC system, HMI and servo drive system; control program in the B & R Automation Studio environment under development, program the main use of ANSI C language, software design using structured text, top-down progressive refinement of techniques and break down the steps, will be developed and the software system is divided into several independent modules. And according to the control requirements of each module to set priorities, the AS fully embodies the "time-sharing multi-tasking," while ensuring the maintenance of good and clear structure.Finally, by means of intelligent control theory, the operation of the industrial robot arm planning path. The simulation results show that welding industrial robot can automatically get the best planning path.