Research On Embedded Control System For Palletizing Robot

With the development of robot technology,industrial robot technology has great possibilityto solve the labor shortage,to improve he work efficency and to reduce heavy load, etc.Thetraditional robot is often controlled PLC and IPC control system.These controller systemshave disadvantages such as large space occupation,high power consumption, etc.To overcomethis problem,we set the palletizing robot as object to carry out the embedded control systemsresearch, combining the ARM microprocessor and motion control chip.This can meet therequirements of hard real-time and performing multi-tasks.The introduction of the embeddedsystem makes other intelligent modules exist in the form of equipment,which is moreconvenient for the data collection and more stable for running multi-tasks.This greatly reducesthe research task load and improves the efficiency of research and development.Theembedded control system of palletizing robot has important theoretical and practicalsignificance for industrial robot control systems study.Considering its own characteristics and job requirements in the actural industrialenvironment, the palletizing robot use the control system which combines the ARM9andembedded Linux operating system and the steering gear control system.Based on above, wecarried out the related hardware and software design.The article manly includes the following:(1)The article described the purpose and significance of the research, explained theresearch status of palletizing robots and industrial robots all around the world, and is followedby the main content of in detail.(2)According to the structure of palletizing robot, this article analyzed the system andkinetics, to determine the optimal orbital way for palletizing robot.(3)According to the design requirements of the palletizing robot embedded control system,the ARM9embedded processors is chosen as the master chip,MCX314AL as the motioncontrol chip,and the embedded Linux is chosen as operating system.Based on this, the mastercontroller is connected with motion control chip by ISA bus,to successfully control the robot.(4)Based on the actural hardware,the function code is accordingly written,thecorresponding program is transplanted.According to the design requirements, the robotoperating environment is set up the corresponding underlying driver,the upper applicationprogram and operator interface is built as per the requirements.(5)Combine with the specific needs,we test the unit and the overall performance of therobot,analyzed and summarized the data.In view of the previous development and all of the work done above,we designed andmade the embedded control system of palletizing robot,and this laid the theoretical andtechnical foundation for the future of this subject.