| After over 50 years of development, industrial robotics has been widely applied to automotive, electrical/electronic, engineering machinery and other industries. At present, both theoretical research and engineering application on robotics are behind international advanced level in our country. Therefore, research on key technologies is of great importance to the development of industrial robot. In this paper, Design and development of a control system which is applicable to 6-DOF industrial robots are the goal, and the related key technologies are studied.In this paper, the D-H kinematics model of a self-developed 6-DOF industrial robot body is established, its forward kinematics equations are derived, and the closed-form solution of the inverse kinematics is analyzed. Considering that the structural error of robot may make the closed-form solution unsuitable, a combining algorithm based on both Taylor expansion and Jacobian matrix is obtained, which combines the advantages of both and can efficiently solve the inverse kinematics with structural error. The gluing trajectory is analyzed and a trajectory method which is suitable for gluing is proposed. Quaternion is adopted to describe the orientation of the robot and spherical linear interpolation method and spherical quadrangle interpolation method are exploited to generate smooth trajectory of orientation. Equations that describe line and arc in three-dimensional space are derived. The overall scheme of the control system is proposed, a gluing robot controller is designed, and a gluing experiment platform is built. The software system that includes architecture, human-machine interface and main algorithms is designed, a smooth control method of gluing trajectory based on cubic natural spline is proposed, and the simulations and experiments of gluing are analyzed. Finally, a DSP-based embedded visual positioning system based on the gluing robot control system is designed and the related image processing algorithm is analyzed. Meanwhile, the positioning experiments is carried out and the result shows that the robot visual system has good visual positioning. |
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