| In recent years, with the increasingly level of automated production, the role of palletizing robots in improving production efficiency and reduce labor costs has become increasingly prominent. Researches on palletizing robot have achieved many results in China, but in the study of robot motion controller there are still large gaps between China and developed countries. The high R & D costs of motion controller have led many domestic robot companies using foreign brand robot motion controller, which limits the cost reduction of domestic robot system and the grasp of core technology. In order to solve this situation, motion controller’s hardware and software architecture need to be studied to present a solution which guarantee the motion control of palletizing robot while reducing motion controller’s R & D, use and upgrade costs as well as difficulty, and provide a new feasible direction to domestic independent intellectual property rights motion controller.Adapt to the need of the palletizing robot’s motion control, this paper studies motion controller’s hardware and software architecture, in the case of ensure that meet the control requirements to study how to reduce the cost of R & D and manufacturing, design a low cost motion controller. Firstly, study motion controller’s hardware architecture, propose a control circuit board solution which use STM32F4 microcontroller as the core, and use modular method to design control circuit board. At the same time, give full consideration to industrial application requirements, choose industrial-grade chips and design the input/output isolation interface. Compared to the current commercial motion controller, simplify the circuit and reduce the circuit board’s design and manufacture cost effectively. Secondly, research the robot’s open architecture software system based on STM32F4 microcontroller’s hardware features. Use μC/OS-III embedded real-time operating system to build the motion controller software system in order to guarantee system’s real-time and multitask parallel processing ability. Use the genetic C language to develop software system in order to reduce the development difficulty and cost. Design man-machine interface based on WPF framework, which can send instructions from the upper machine to the motion controller and monitor the system status. Aim at palletizing robot movement requirements, implement suitable real-time trajectory planning and close loop control algorithm for microcontroller and test the motion controller. The results show that the motion controller developed can realize the control of the palletizing robot. Palletizing robot move smoothly in its operation and has a high repeated positioning accuracy. This paper’s research provides a feasible idea and solution for the development of palletizing robot motion controller in China. |
