Large Complex Surface Plate Bending Robot Controller

The technique of 'A Steel by Line Heating and Cooling' is world-leading technology in processing steel plates for building hull. The shipbuilding industry plays an important role in the whole industry of a country especially the coastal and island countries ,so advanced in shipbuilding industry can be a direct or indirect symbolic of industrial strength of a country. Technique of 'A Steel by Line Heating and Cooling' have several characteristics such as full of techniques and difficulties etc, it is based on experience of experienced workers and use the fire heat steel plates in predetermined lines calculated by expert system, then cool them down by water, so the difference between forces of extention and contraction, the steel plates will curve to their desired shape . This project, named 'Shaping large-scale complex curve steel plate with method of A Steel by Line Heating and Cooling', is cooperated with New Shipbuilding Factory of Dalian. As it requires precise control in processing steel plate to meet the seamless assembl~' in shipbuilding, so we resort to robot to help us to improve the productivity and automation degr~e. This project is aimed for those purposes and had been done in Shipbuilding Department of Dalian University of Technology, passed the test of Expert Group of National 863 Project at Jan 14 2001, cooperated by Tsinghua University, Beijing University of Aeronautics and Astronautics, Dalian University of Technology and New Shipbuilding Factory of Dalian .This thesis described the whole component parts of the intelligent controller of robot ,which is processing steel plate by 'A Steel by Line Heating and Cooling' technology .This thesis provides sections as follows:1. Introduction to the development and expectation of both national and international industrial robots.2.Introduction to the overall structure of controller, also including discussions on scheme, technique requirements and interfaces of controller.3.Introduction to the advanced technique adopted in this project -SERCOS, the first international standard in motion control. Operation method, data transmission, data structure, data type and initialization of SERCOS are mainly discussed in this chapter.4.Introduction to the hardware structure of this project, including motors, 110 components, power supply system and smart console.5.Introduction to the software structure of this project, including overall structure, pseudocode of main procedures and algorithms of control.6.Discussions and analysis on the problems we met in researching and building this robot system and what is need to be improved in further development.