| As labor cost continues to increase and robotics technology matures, labor-intensive packaging industry seeks for restructuring. The application of light packaging robots has become a tendency. Mainstream robot motion control system is mainly dependent on import, or using common open motion controller for secondary development currently. There isn’t any specific control system for light packaging industry robots. This paper studies the light packaging robot motion control system, analyzes the principles and key technologies, integrates the packaging process into the controller, finally designs the controller, which greatly reduces the difficulty of using of the robot.First, analyzing the characteristics of commonly used light packaging robots and robot motion control system. Combining light packaging needs and key technologies of the robot control system, the light packing robot motion control system overall program is designed. Proposed special motion control chip ARM and PCL6045 BL as master-slave control architecture of hardware solutions, and on this basis select μC/OS-II real-time operating system as the software platform for program design.Secondly, on the basis of comprehensive comparison of commonly used light packaging robot, a new light packaging robot is proposed. The new robot is analyzed and shaped as an example of the analysis of light packaging robot motion control system. Its structure was degigned by Auto CAD, and the model of the robot is established by D-H, using the homogeneous transformation get the kinematic equations of the robot, and the robot workspace is analyzed. Using Matlab Robotics Toolbox for robot simulation and verification of the accyracy of the degin, and the three-dimensional map of the robot workspace is given.Position control, speed control and trajectory planning is the core technology of robot motion control. The robot servo position control and the traditional S-curve velocity planning control method is analyzed. Based on improved the planning algorithm of S-curve velocity trigonometric functions is proposed, and verify the effectiveness and rationality. Robot trajectory planning is the most important of the robot control, this paper focuses on the linear interpolation, circular interpolation of the robot and meet flexible of the robot’s joint control based on cubic spline interpolation algorithm, and simulation results are given.According to the characteristics of light packaging robot motion control system, this paper gives the hardware and software design of the motion control system. PCL6045 BL and STM32F407ZGT6 are the control center of the robot control system hardware design. Hardware circuit design includes core board design, power module design, communication module design, motion control module design, and peripheral interface design, which include servo interface, hand wheel interface. Software design gives the transplant process of the μC / OS-II operating system, and the main program flow chart robot motion control program, teaching program are given.Finally, the experimental and the specific experimental platform are set up to verify the rationality of the system. The deficiencies that exist in the system design were analyzed and made the next goal. |
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