Research And Simulation Of The Control System Of The FANUC Welding Robots

In recent years, the development of robot technology is very rapid; welding robots have been widely used in industry which occupy an important position in the industrial robot family, especially in the automotive manufacturing industry. This paper aims to study the R2000 iB FANUC robot control system and carry out simulation test of the welding process, achieve the simulation conclusion. The research contents are as follows:This thesis is based on spot welding robot workstation construction project of Dongfeng Motor Parts Co.Ltd(at Wuhan Dongfeng), studying the control system of R2000 iB FANUC joint robot. And on this basis we apply that to ROBOGUIDE software for the off-line programming and simulation of the R2000 iB FANUC robot.Firstly, it is introduced that the development situation of the industrial robot both in domestic and overseas, and makes a simple analysis of the body structure of R2000 iB FANUC robot, gives the technical parameters of the robot.Secondly, the control structure and control scheme of the robot control system is designed. We use the BOSCH 6000 welding controller, setting the parameter through the BOSCH 6000 programming software, driving the robot mechanism to complete the expected movement and operation. We analyze some hardware structures(the R2000 iB FANUC robot control system) that the R30 iA controller, servo drive system module, the DeviceNet interface communication module, input/output module, the teach box control system etc. The final object of servo control is Robot joint, we design the current loop, speed loop and position loop to control, applying fuzzy PID to achieve the control of non-linear complex system. It is designed the main module of the robot control system software applying modular structure, including teaching communication module, program explanation function module, condition monitoring module. In addition, it is introduced the trajectory control and off-line programming technology of FANUC robot. Based on the three and five time polynomial interpolation trajectories, we propose seven polynomial interpolation trajectory algorithm, and get the joint trajectory path. We complete Descartes space trajectory planning based on the 7 section S curve acceleration and deceleration algorithm.Thirdly, according to the project requirements on welding robot task, in order to complete the task in time node, we make the path planning analysis of the spot welding robot, in order to control the system reliability and stability. We apply robot off-line programming and simulation software ROBOGUIDE to realize simulation of the actual environment.Including the establishment of the working environment, the load of 3D model and simulation environment layout, off-line programming simulation in TP, the simulation results show that there is no collision in the welding process, the welding trajectory is optimal in a short time. And then apply to the scene debugging, the tasks required are completed very well, and it is convenient for debugging persons. The research and design of the robot control and simulation system lay the foundation for realizing the process of quality control of robot welding. Finally, we make a summary of the full text, and put forward ideas for further research.