Design And Implementation Of A Six-axis Industrial Robot Control System

Robot as the direction of future automation, have always been a hot topic of people. Industrial robot as the most typical mechatronic control systems have been widely used in the industrial production, machinery manufacturing, aerospace and other fields. The development of robot control technology largely reflects the ability of a country’s industrial automation. The control technology of position and orientation is the core of robot research, which directly determines whether the robot can perform a fast and accurate operation. Therefore, it is very significant to do research in the robot position and orientation for the whole control system.First, study and analyze the development Status and structure of robot at home and abroad, and adopt six-joint robot as research subjects. Establish forward and inverse kinematics equations of the industrial robot based on the D-H coordinate system, give an efficient method of selecting the inverse solution and plan the robot trajectory.Secondly, analyze the practical applications and the hardware and software module structure of the whole system. The hardware architecture of the industrial robot is based on the MCU+DSP+FPGA: the MCU controller uses STM32F429IGT6, which is mainly responsible for peripheral communications, code compilation, code analysis, human-computer interaction and task scheduling; the DSP processor uses TMS320C6747,which is is mainly responsible for the operation of interpolation program; the FPGA logic devices uses EP3C16Q240C8, which is primarily responsible for user IO ports, pulse output and encoder feedback input of the six servo motor. The whole control system is composed by control board, servo driver board, bottom board, interface board and LCD keypad board. The control panel is used to perform complex interpolation algorithm,compile and parse code, schedule and switch task and other functions.The servo driver board is used to sent differential pulse signal and receive differential encoder feedback signal.The bottom board is used for fixing and mounting other boards.The interface board is mainly used to provide a unified interface for input and output signals The LCD keypad board is used to get the key value and show the robot Information on the LCD.Then, according to the principles of kinematics interpolation and the system functional requirements, design the software section of the whole control system: according the peripheral circuits and functional requirements, test each software module, including parser, compiler,operating interface, storage, communication and custom file system; simulate the forward and inverse kinematics interpolation algorithm on the MATLAB and then transplante the algorithm to the DSP; according to the mode of communication and pulse output control, design each moduleand simulate the waveform by Modelsim.Finally, after a year’s research and development, the robot control system has been basically achieved function. The repeat accuracy of the system is at ±0.5mm and the maximum moving speed is up to 0.5m/s. Meanwhile, the system has high reliability and stability.