The Research Of The Palletizing Robot Control System Platform Based On Real-time Industrial Ethernet

As the most important equipment for modern stacking system, palletizing robots make important effectiveness for industrial automation. 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. Based on the real-time industrial Ethernet fieldbus, this paper designs one palletizing robot control platform which uses to develop palletizing robot control systems.First of all, the desired movement of the palletizing robot is analyzed from the working process. Then the structures of a kind of mixed-connection palletizing robot and series palletizing robot are analyzed, too. The similar door-shaped trajectory of the end of the palletizing robot is planned according to the regular pattern of motion in the palletizing robot working process. Using the S-curve acceleration and deceleration control method and robot forward and inverse kinematics, the interpolation calculation is done for the movement trajectory of all axes. Using the S-curve acceleration and deceleration control method in trajectory planning process, it achieves that the synchronized running of horizontal movement, base rotation and gripper rotation.Secondly, the paper does some research of palletizing robot control platform. The control system hardware platform adopts e-Link interface card and IO interface card which are based on the real-time Ethernet fieldbus EtherMAC (Ethernet for Manufacture Automation Control). Connections between e-Link interface card, IO interface card and Industrial PC is through shielded twisted pair. The palletizing robot control system software using a modular design concept. The control software is divided into motion control module, data communication module, human-computer interaction module, etc. Wherein the data communications module includes a fieldbus communication module, can be realized to control the communication between the system software and hardware platform. For different types of palletizing robot mechanical structure, only need to call the corresponding software function modules can be quickly and accurately develop palletizing robot control system applicable to the user needs.Finally, a palletizing robot control system to meet user needs is designed on the basis of the palletizing robot control platform which is based on the real-time Ethernet fieldbus, and a palletizing robot control system is used to the production line. The tests showed that the palletizing robot control system can achieve the desired functionality, work in a stable and smooth condition, and reach the needs of industrial automation.