Design Of Robot Motion Control System Based On Canopen

In recent years, with the increase of labour costs, traditional labor-intensive manufacturing production patterns in China are difficult to keep up with the pace of social development. Using robots instead of human is the inevitable trend, and the bus-based industrial robot controller is a new direction. Compared with conventional control systems, the bus-based robot controller has many advantages, such as strong anti-jamming capability, easy maintenance, easy to expand, low cost, and so on. So it plays a decisive role in robot promotion.In this paper, a three-axis Cartesian coordinate manipulator is the control object, and a robot motion control system based on CANopen bus protocol is designed and developed. The main work and achievements are as follows:1. Using two STM32 series chips, the Human Computer Interaction (HCI) handheld device and the motion controller are designed and developed, which perform human-computer interaction and robot motion control.2. By studying the interpolation algorithms and velocity, acceleration planning methods, the time division interpolation algorithm is used to implement interpolation of small segments. In order to eliminate the synchronized multi-axis robot position errors effectively, a real-time speed planning method is presented.3. A robot motion control system is built based on the CANopen bus, which implement robot homing mode control, position mode control and interpolation mode control.