Research Of The Control System For Industrial Robot And Application On The Glass Processing Equipment

The industrial robot with six degrees of freedom was used as object of study in this thesis.The control plan, the software and hardware platform of control system were studied. Thecontrol procedure was designed and the robotic application on the glass line manufacturingequipment was discussed.At first, the searching background and current significance of developing this projectwere stated with the combination of practical problem. Using robotic coordinate notation,D-H coordinate and parameters were set up. The counterchanging matrixes betweencoordinate frames were set up by the coordinate counterchange method. The wholecounterchanging matrix, which was regarded as positive kinematics equation, was formed bymultiplying all the individual counterchanging matrixes. The converse kinematics equationswere built by the reverse counterchanging method.Then the control mode of PC plus motion control card was put forward with the analysisof the robotic controlling requirement and using condition. With the comparison of severalmotion control card, DMC5480was selected as the motion control core. The type of driverswas decided under the analysis of drivers function in the control system and the selectionfundamental of drivers. Using the module idea and the analysis of robot control function, thecontrol modules and the flow of all modules were designed. Besides, VC++was used todesign the control procedure and operating interface.Finally, the analysis of application of robot in glass line manufacturing equipment, theplan of the PTP trajectory and motion flow and the demonstration of route points were carriedout. The control functions were verified in the working spot. The glass line manufacturingautomatic carry has been realized at the end.The effective control and normal run for all the functions of the control system hadverified that the control plan was reasonable and the control procedure design was right. Therealization of automatic transferring the glass to the glass processing equipment with robothad proved that robot can be used to such equipment.