| Firstly,this paper expounds the development situation of the robot control system, consult the mechanical electrical interface standard of EU67, considering the terminal equipment application characteristics of the movement of the manipulator platform, servo control system and Hand controller component and so on, and then according to the characteristics of the carrying manipulator and the manipulator control system working environment, task requirements and performance requirements, design and analysis the whole control system of the mechanical structure of visual intelligent automatic brick reloading machine robot, driving system, transmission mode and hardware and software.The main research contents of this paper are: according to the actual demand, analysis each module function of the manipulator control system, to determine the coordinates types of the manipulator and degrees of freedom, put forward the overall design scheme of the manipulator system; research and analysis the composition of manipulator, structural style, servo drive system and drive mode of visual intelligent automatic brick reloading machine robot, design the executive system; analysis and design the related hardware circuit of manipulator,and selection the connection mode of PLC. Choose the programmable controller(PLC) model, design the connection between the PLC and the driving equipment and the I/O port distribution, write and debug control program flow chart and the PLC control program, design manipulator control system hardware and software of visual intelligent automatic brick reloading machine robot; writing the relevant program of visual intelligent automatic brick reloading machine robot manipulator human-computer interaction interface based on VC++6.0, design the control button function of the manipulator and the human-computer interaction interface.The design of automatic brick reloading machine manipulator control module has some reference values to other robots for handling. |
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