Research On Control System Of Light Robot Based On CLIPPER

This project developed a set of lighting robot control system with the actual demand.First,the mechanical structure is analyzed.Then,the hardware circuit of the control system and the software program of each part is designed.Finally,through the prototype test,it indicates that the light robot control system function properly and in line with expectations.The details are as follows:(1)Combined to the structural characteristics of light robot,DH model is used to establish the positive kinematic model of light robot.the final position matrix of the light robot is obtained and the inverse solution is performed according to the established kinematic model,which laid the foundation for the preparation of the PMAC program of motion.(2)Architecture of “computer + PMAC” motion control card is chosen as the core for the control system referred to the research status of this field at home and abroad.This kind of architecture has good performance and is one of the widely used schemes in industrial robot development.By comparing the characteristics of PMAC products,one of the TURBO PMAC2 products,Clipper is selected as the motion controller of the system.According to the load of the light robot system,select the Panasonic A5 series servo driver and servo motor as the drive part.Combined with functional requirements,designed the electrical circuit of control cabinet and interface between controller and driver.(3)Software is divided into the PC isoftware part,PMAC motion program part and PMAC PLC program part according to the hardware architecture of the control system,PC software is responsible for the user command input,parameter settings,zero status,limit status and other signal monitoring.PMAC motion program includes single-axis incremental motion program,multi-axis linkage program,space linear interpolation program,space circular interpolation program,rapid movement to a point program and kinematics buffer program.PLC program includes initialization program,motion monitoring program,inverse kinematic state monitoring program,limit status monitoring program,servo alarm monitoring program and other parts.Three parts of the program work together with each other to complete the control task.(4)Manufacture light robot prototype according to the design,commissioning by modular to prevent the occurrence of security incidents and locate and remove the fault easily.First,set appropriate parameters of the driver and connect it to the motor to run JOG test.And then set the PC and PMAC card IP in the same LAN for Ethernet communication,use PEWIN32 PRO test other functions after the success of the communication.Finally,test the host computer software include home status,space movement,teaching,reproduction and other functional modules one by one.