Study On The Controlling System Of Auto-searching Track Cutting Robot

Cutting robot is very important in the field of industrial robots.The successful application of cutting robot had fully demonstrated to the common people it is remarkable function in solution technology labor shortage,raising the productivity,the improvement product quality and reducing the production cost.Increasingly,cutting robot becomes important processing robots in the field of automobile,aerospace,shipbuilding,ocean platform,steel structure and so on.At present,the cutting robot through the robot arm gripper end-cutting tools to cut.The realization of its cutting is relying on the arm movement to achieve.It can be divided into two types' fixed and mobile operations.This cutting can achieve the requirement of three space cutting.The perfect combination of cutting technology and robotics improve the automatic cutting efficiency and accuracy. However,the fixed is not easy to operation and the mobile operation is too dear,as mobile cutting large-scale materials.And in industrial areas,in the process of cutting steel or other material,it's very inconvenient using EDM cutting,because it must be fixed in certain location.Therefore,a small robot which facilitates and can move easily is appearing on. The robot self-tracing function with that can follow the track of guide movement and the same time cutting.The cutting head can automatic adjustment as the different cutting materials,and also can switch easily,facilitating the large-scale flat sheet cutting.The process can be automatic,flexible,and real-time.In the response to the practical requirements,this paper carried out a great deal of research work.(1) In this paper,carry on a systematic survey and made a first-hand information of study on cutting robot,analyses the development of cutting robot in location and abroad, analyses the structure of the related robots,design the body of cutting robot and infer it in theory,carry on a full argument of its ways and means of movement,simulate the related kinematics and dynamics,and laid a good foundation for actual production.(2) This paper also design and research the control system of moving car,analyze and design the structure and the basic principles of system hardware,design of control systems using DSP technology,design of the circuit and principle using relatively new chip in the field of industrial,so the structure is totally new and practical.(3) In this paper,design a digital controller core,control the system using variable structure fuzzy rules,research the Lishu function and the related rules in control system, carry out a anti-fuzzy design for quantify the amount for input and output.(4)In this paper,had designed the related software,achieves the data transfer between the host computer and DSP and the implementation of orders through using software programming.The host computer process the real-time acquisition image,and come to the real-time trajectory,and monitoring of the track of vehicle running,come out the level of close between the car and actual trajectory and sent it to DSP.Through the fuzzy control rules procedures,the DSP control the PWM motor vehicle.(5) To simulate the transition process of controlling system is another research point in this paper.The quality control is the key judgment of the control system whether it is eligible.The movement of vehicle should be following the track,and to ensure the speed and accurateness when the vehicle is swerving,the correct control voltage and motor speed must be chose.The scope of control rate could be worked out via transition process simulation,which is helpful for tracking and is the quality assurance during machining process.(6) According to theoretical analysis and validation of motor speed in the running process of car,the corresponding curve is mapped,and the fitting equation is established to provide the mathematical basis for the control process,so that a better control accuracy can be got.Simultaneously,the article analyzes straight and arc tracking trajectory of the car running,and measure corresponding data in indirect way.By the corresponding experimental study,and based on the comparison between the track of car and the actual curve to prove the correctness of system design.(7) The system error is caused by a variety of reasons,such as the coordinates error from the host computer,structural error and transmission error from mechanical system, error from motor control,and so on,all these error lead to trajectory error.However, because of limited time,the better amendment isn't done.The research work in the study of cutting robot is a systemic course and project, related to optics,mechanism,electronic control and computer science,which needs the help of engineers and technical staff from various field to work together.In this paper,the research is emphasizing on Mechanical body and Control system,has gained a useful exploration of experience and has been the basis of the basic design for further products development with its important reference value in mechanical body design,kinematic analysis and fuzzy control.However,the research in this paper cannot be perfect due to limited time,some contents need to be explored in future,the optics system mentioned in this paper is designed under simulation mode of control system,which is a small shortage, will be completed for researcher in future.