Research On Multiaxial Robot Control System Based On CODESYS

The industrial robot is a kind of Electromechanical Integration automatic equipment. It can complete all kinds of operation such as:Humanoid operation, automatic control, repeatable programming. It’s also widely used in the field of Welding, Cutting, Classification, Handling and Installation. Researching the control technology of industrial robot has important significance in improving the automation level of the country.This thesis conducts an in-depth research on the key technologies in the Industrial robot control, and develops the robot control system based on CODESYS. The main contents and major findings are as follows:(1)The representation method of the position and posture of space objects with matrix is put forward. Calculated the Robot kinematics equation with D-H method. Simulated the algorithm with MATLAB robotics toolbox.(2) Analyzed the position of the robot coordinate relations, realized the calibration of workpiece coordinate and tool coordinate. Brought out the method of three-point teaching and actualized the calibration of TCP and TCF. The mathematical formula was put forward.(3)This study also probes into the 3-D simulation technology in robot operation. A WPF-based 3-D simulation software for robot control is developed. The simulation function can be divided into Off-line simulation and On-line simulation.(4)Study the OPC communication technology of the robot control system. The system is integrated the CODESYS OPC Server. Developed the OPC Client in HMI program. Meet the requirements of the control system real-time data transmission.(5)The programming of control system is based on CNC G-code. The user code language is developed. The robot and NC machine could work together with communication.(6) According to the control technology of industrial robot, a HMI program is built with CODESYS and IPC (the core of system). The SCARA platform was built use EtherCAT bus technology. HMI program is designed with Visual C#, including 3-D simulation, information display, alarm processing, manual operation, communication operation, coordinates calibration, teaching, parameter settings, Online programming.