Design And Implementation Of Manipulator Control System Based On The FMS System

Flexible manufacturing system is a set of automated machinery manufacturing system including CNC manufacturing systems, material handling system, informationcontrol system. The biggest advantages of this system is able to adapt to the transformation of the object to be processed. Due to Computer control technology adaptation, changing in the computer program, different processing objects can be processed differentiately. In recent years, with the increasing demands of the machining accuracy and efficiency, flexible manufacturing system has been more widely used. Industrial robot applications in flexible manufacturing systems is increasingly common, especially in the handling and transport of materials is the most common.The object in this paper is industrial robot control system, its function is to control the movement of a manipulator, in order to achieve exchanging workpiece in the apparatus between the three CNC turning center and the automatic workpiece changer. In this paper, the design of system control object is a four-degree-of-freedom industrial,Single-chip Microcomputer as controller, four actions are driven by a stepping motor, the opening and closing movements of the robot driven by the pneumatic system. Taking into account the safety of the system and stability of the photoelectric proximity opening limit control; Considering the complexity of the field work, the connection of the partial signal fed to optical coupling to achieve the signal to pass, in order to increase reliability.The function of the system is to achieve the speed and position control of manipulator movement, as well as signal analysis and processing. Use of the Single-chip Microcomputer internal timer/counter work on the timing and interrupt timing output fixed pulse width, and gave the signal to the stepper motor controller, in order to achieve speed control; timer/counter counts the way of the Single-chip Microcomputer sends a pulse signal for counting to determine whether to reach end position of the movement, in order to achieve the position control; after careful analysis, determined I/O port allocation and designed the I/O system, then a part of the control program is designed based on this.