Four DOF Palletizing Robot Control System Design And Implementation

In automated production, palletizing robot is an important equipment of the production line. Palletizing robot’s ability to work depends on the level of the control system. Therefore, a good design and implementation of control systems for palletizing robot has an important significance. The following major tasks were carried out in order to design and implement control system of palletizing robot.Firstly, the overall structure of the palletizing robot’s control system was analyzed and designed. A common type PC architecture was chosen as the core system architecture. Then based on the overall structure, the selection of each module was carried out.Secondly, the kinematics and the D-H method were used to analyze and establish the kinematic equations and inverse kinematics equations of the robot in order to establish the foundation for the following trajectory planning.Then, in the optimal trajectory planning, traditional trajectory planning algorithm was improved by adopting the R dominance theory according to the characteristics of palletizing robot’s operation. In the algorithm, the trajectory of the first step of a certain layer was solved by a non-dominated multi-objective algorithm. For the next track, R dominant theory was used to solve and guide the direction of the trajectory planning algorithm for solving by using the previous step of trajectory planning results as reference information. When the proportion of individuals had gathered in the reference points around, the algorithm stopped work and chose a suitable solution as a result by using the TOPSIS(technique for order preference by similarity to an ideal solution). So the time can be saved by combining the characteristics of palletizing robot trajectory with the improvement of planning algorithm.Finally, the control system’s software architecture was analyzed and designed. The palletizing robot’s control system was realized with hardware platform and optimal trajectory planning algorithm and a layered architecture. Palletizing function test and repeated positioning precision experiment verified that control system could achieve the expected design target.