Research On Reconfigurable Control System For Cylindrical And Rectangular Coordinate Robot

The traditional cylindrical and rectangular coordinate industrial robot control system is designed according to the pre-determined process route and work environment. The control instruction, which is integrated into the special controller and controls the operation of the industrial robot, is written by the special language. Once the industrial robot working object or process route is changed, the control system of the industrial robot will be redesigned, which greatly reduces the flexibility of industrial robot. The research task of this article is to design a modularized reconfigurable control system for cylindrical and rectangular coordinate industrial robot, which is based on the reconfigurable control theory. The control system of industrial robot can be rapidly reconstructed through the logical combination of functional modules when the industrial robot working object or process route is changed. Thus the robot flexible advantage could be given full play to.On the basis of the theory of reconfigurable control, the characteristics of the reconfigurable control system for cylindrical and rectangular coordinate industrial robot was analyzed in this paper, and the key technologies to realize the control system were summarized. A method of reasonable division of the functional modules of reconfigurable control system was put forward in this paper. According to the characteristics of cylindrical and rectangular coordinate industry-al robot applications, the functional module of industrial robot control system was divided and the parameter model was built for each established functional module. The reconstruction process of the functional modules in the control system was described in detail in this paper. The design method of the task protocol which dominates the reconstruction of the functional modules in upper computer was described in this paper. A full task protocol had been designed and its data format was described in detail in this paper.Based on theoretical analysis of reconfigurable control system for cylindrical and rectangular coordinate robot, a complete reconfigurable control system for cylindrical and rectangular coordinate robot had been developed. The software in upper computer was developed with VB, while the controller in lower computer system is PLC. And the reconfigurable control system had been applied in the control system for machining automatic feeding.