Modeling And Controller Design Based On STM32 Palletizing

Now, palletizing robot is widely used in packing industry field. Designing the controller of robot has important theory significance and practical value. As to palletizing robot with four degrees of freedom, this paper analyzes the structure of the robot and build the kinematics equation of the robotand design the control system of the robot based on STM32 controller, develop the software procedure of the robot control system by using RealView MDK3.80. The concrete content includes:Firstly, the control system of the the paper analyzes the structure of palletizing robots and builds the mathematical model of palletizing robot with the D-H method.The paper designs the linear and circular interpolation algorithm according to the trajectory planning of the palletizing robot.Secondly, the paper designs the controller system of the palletizing robot, for example the upper computer, controller, servo drive system and servo motor. The the controller of the robot based on the STM32F407ZET6 core is designed, for example power supply circuit, clock circuit, reset circuit, USART communication circuit,JTAG debug interface circuit, RS-232 and RS-485 communications circuits, control signal’s differential outputs and receiver circuit.Thirdly, This paper develop the software procedure of the robot control system based on RealView MDK3.80. In the process of the design, the paper analyzes the modular configuration and initialization of the procedure, USART communication program configuration and PWM output program. Then the paper verifies the PWM output result by the software simulation.Finally, the paper carries the simulation experiment and test and the results show the control system of the palletizing robots based on STM32 effectively realized the control to the palletizing robots.