Development On Open Architeture Control System Of Bending Robot

With the development of robot technology, a new kind of robot will appear in the area of sheetmetal bending, which has poor working condition and intensive labor. In order to achieve the target ofautomated bending, this thesis analysed the functional requirements of sheet metal bending anddesigned the bending robot control system based on the “PC+DSP” open structure. Besides, keytechnologies of bending robot are discussed in this thesis.Firstly, the basic structure of bending robot is introduced in the thesis. And the mathematicalmodel and the space motion coordinate frames of the robot with D-H method are established. On thebasis of it, the method to command the robot track the path of press brake and the path planning ofbending robot based on geometric model is studied.From the openness and real time, hardware platform of the bending robot control system isdesigned. The controller is based on “PC+DSP” structure, with the access to rich software resourceson a PC and strong real-time kernel GRT. DSP finishes the servo controlling, thus relieving therequirement of frequent communication and improving the real time performance.From the functional requirements of the bending robot, multi-tasking and multi-threaded ofsoftware operating mechanism is established, which provides a good platform for secondarydevelopment. The software is designed in a modular manner and several modules are built, such asmotion planning module, status monitoring module, parameter management module, documentmanagement module, and so on. The implementation process of each module is analyzed in detail.In order to improve the efficience and automatic level of bending robot，vision servo controlsystem to locate sheet metal is designed. And the process to get the information of the sheet metaledge on the image is discussed. This lays a foundation to achieve polyarticular visual servo control.Finally，experiment is carried out with self-developd bending robot validate the control system. Itproved that the control system developed in the thesis is fully functional and operates effectively. Ithas a good practical valueand through demonstration validation.