Study On Motion Control Of 6-DOF Robot Based On CODESYS

With the development of artificial intelligence, robots are used more and more widely. Both domestic and overseas, a batch of excellent robot company has appeared. However, most of the foreign company’s 6-DOF robot control system is hard to do more development, because the hardware architecture and software of the ROS is almost not open. While, domestic company’s 6-DOF robot control system is still dependent on imports on the key technology. Therefore, the further research in the theory and application of the key technology of 6-DOF robot has the vital significance, as well as to develop a kind of good openness and extensibility of the robot motion control methodIn this paper, after reading the related literatures of the robot motion control method and the trajectory planning method, ESTUN ER16 robot, as the research object is studied on the robot kinematics analysis and trajectory planning. Finally, a kind of effective method to the 6-DOF robot motion control is put forward.The main content is as follows:1. The ER16 robot is modeled with D-H method. And based on the model, the kinematics equations and 8 set of solutions of inverse kinematics are got by studying the kinematics and inverse kinematics.2. The trajectory planning methods in Cartesian space are studied to realize continuous path planning as well as the trajectory planning in the joint space. And a method for trajectory planning of 6-DOF robot in joint space is put forward to improve the efficiency of the robot motion. The fifth-order non-uniform b-spline curve is used to control the speed, acceleration and jerk of every joint trajectory. By using the improved particle swarm optimization, the time-optimal trajectory with non-linear kinematic constraints is solved.3. The embedded soft PLC controller which is developed with the CODESYS RTS and embedded Linux system, which is used for the robot motion control.4. The software development of 6-DOF robot control system is completed, which is include programming of control platform, test of communications, design of servo motor control, robot motion control, system UI interface, debugging and experiment of the control system.At last, the motion control method of 6-DOF robot which is proposed in this paper is summarized. The innovation and shortages of this method are pointed out. And these will be my research emphasis for the future.