Research Of Coordinated Multi-channel Control Technology For Industrial Robot

Coordinated control technology is the key technique to achieve simultaneous movements of robot system with external axis or multi-robot system. Formal researches mainly focus on the task allocation techniques and communication methods of multi-robot systems. However, the trajectory planning and interpolation of multi-robot systems in coordinated movements are not deeply researched. A novel coordinated control method for the multi-group movements of industrial robot system is proposed in the thesis, and coordinated control software based on this method is developed.Servo drivers of different groups are connected to the motion controller using field bus in the thesis. The coordinate transformations between units of the coordinated system are built by the calculation of coordinate system in its kinematic group and the calculation of different kinematic groups. Then, the kinematical equation between the joint position of each axis and the position and attitude data of the coordinated control system can be calculated. The interpolation algorithm of multi-group movements in Joint space and Cartesian space is discussed. Also, a multi-group interpolation strategy is proposed in the thesis to maintain the relative position and attitude between different groups during coordinated movements.Based on the coordinated control method, coordinated control software for industrial robot is designed. Decoder, multi-group control, interpolation, servo-drive and etc. modules are divided according to.the realization of the software’s main function: input of coordinated motion command, calculation of coordinated trajectory, output of position control data. The decoder transfers control commands into the system and the multi-group control module works out the coordinated trajectory. Then the interpolation module exports the interpolation data. At last, the servo-drive module carries out the coordinated movements by controlling the motors.Experiments and applications of the coordinated control software are conducted basing on HNC field bus hardware platform. Coordinated movements are realized by multiple groups according to the control commands. The kinematical calculation efficiency and coordinated interpolation performance of the software are verified.