Control System Software Design Of The Palletizing Robot Based On Windows/RTX

Logistics industry plays an increasing important role in economicdevelopment. An important means of storage utilization to improve thematerial handling efficiency is palletizing. Using palletizing robot toreplace hand palletizing has become the trend of the development of thelogistics industry. Palletizing robot can improve the production efficiencyand product quality, and also can improve the system ability to deal withthe new logistics demand. Research on palletizing robot with independentintellectual property rights is of great significance to improve thecompetitiveness of the national enterprises.This paper discussed the control system software design ofpalletizing robot. First of all, introduced the palletizing robot applicationin the automatic production line and analyzes the function requirementsof robot. Secondly, analyzes the mechanism of the robot body of theDemon logistics company, then derivates the robot kinematics andinverse kinematics equation. Realizes the trajectory planning algorithm inthe joint space and Descartes space by applying S-curve acceleration anddeceleration speed control method. Palletizing robot is a real-timemulti-task system, an innovation of real-time control system scheme based on Windows/RTX is proposed through the comprehensive analysisof the real-time performance, multitasking ability and the price aftersetting up the control system hardware platform and designing the teachpedant hardware structure. It can make full use of Windows’ richresources, to meet the real-time requirement of robot by expanding RTXreal-time module which makes up for the Windows defects. In referenceto the classical computer network OSI model, proposes a control systemhierarchical system structure which contains interface layer, functionlayer, application layer; And puts forward modular design method thatdevides the palletizing robot task according to the function based on therobot controller open design thought, which is helpful for softwaremaintenance and upgrade. Appllying multi-thread technology to greatlyreduce time switching and communication cost between tasks, whichimproves the overall performance of the system software. Finally,realizes the three levels of each module, completes a preliminary designof the control system software and laid a foundation for the future higherlevel of robot application.The design of the control system can satisfy the functionalrequirements of palletizing robot through the experiments of the repeatedpositioning accuracy.