Design Of Groove Cutting Robot Control System Based On Visual Servo

With the advancement of economy and technology, the manufacturing industrydeveloped rapidly in our country. But so far, the bevel cutting of workpiece was finished bythe way of manual cut or playback robot cut. However, there were some limitations of the twoways, for example, the cutting quality was inferior, the cutting efficiency was low and theoperation process was also complicated. So it was difficult to meet the modern enterprises’needs. Therefore, the visual servo cutting robots with automatic measurement and trackingfunction would gradually become large scale facility manufacturers’ preferred choice.This article was based on the technological requirements of groove cutting, and theadvanced robot control technology and the perfect visual measuring technology were used fordesigning the control system of the groove cutting robot based on the visual servo. The designof the robot would dramatically improve the cutting quality and cutting efficiency accordingly.The main functions of the robot were to collect the profile information of workpiece and cutthe bevel.The vision collection system of the robot used CCD camera and structure light toaccomplish the measure efficiently and precisely. Based on image processing results and PIDcontrol algorithm,control system controlled workbench to finish tracking the trajectory of theedge of the contour of workpiece,and accomplish the visual scanning of the edge ofworkpiece. The system used the centralized control mode of IPC （Industrial PersonalComputer）-PMAC(Programmable Multi-Axis Controller) to design the mode that linearinterpolation movement combined with multi-axis, then making five axles work compatibly.This would insure that the cutting precision of robot. On the basis of the stable controlalgorithm of multiple axis coordinated movement, the article added some control subroutines,including acceleration, deceleration, pause, return,fine tuning of single-axis and so on. Theexperiment showed that the system had the perfect functions and ran stably, and its precisionand efficiency could meet the demand of design.