Design And Research On System Software Of The Palletizing Robot Controller

In recent years, a number of universities and companies have paid a great deal of attention to the research and development of palletizing robot. But there is still a large gap between home and abroad in the overall development and application levels of robot controllers. Therefore, the independent research and development of the palletizing robot controller is of great significance for China's development. This paper researched and designed the palletizing robot control system according to the features of the palletizing robot named SJDM-P.First of all, kinematics was analyzed according to the four-axis palletizing robot. A dynamics simulation model and closed-loop control model were built skillfully through MATLAB and ADAMS, and a compound control method based on CMAC and PID was validated.Secondly, trajectory planning of the robot was studied in the joint space and Cartesian space. A new speed control method based on an improved S-Curve acceleration and deceleration was proposed and implemented successfully. A practical and effective transition interpolation between two lines was designed to enhance the smoothness and rapidity of operation.Third, the software architecture of the control system was designed based on an open hardware platforms and an embedded real-time operating system named VxWorks. The robot controller system software modules and drivers was developed using object-oriented development techniques and modular structure to improve the software's scalability. Multi-task features were analyzed for the various sub-tasks of the robot controller. A task co-ordination mechanism was built to enhance the controller's real-time and safety. Finally, a robot body simulation model was built using OpenGL so that the controller system could be debugged in the absence of physical robot. In this way, it can improve debugging efficiency and avoid possible damage to the physical robot during the debugging process. Some experiment proved that the system software and each module be able to perform well with high real-time property and reliability.