Research And Simulation Of Welding Robot Control Algorithm Based On DSP

Robot is applied in every field of industrial production,and it is of great practical significance to study the control algorithm and industrial application of six degree of freedom welding robot in the trend of modern society and information technology.In the welding process of automobile body,a plurality of groups of robots are required to cooperate with the body parts for welding operation,and the application of the intelligent online robot is also the most urgent.This paper on the study of single six degree of freedom KUKA welding robot dynamics based of more than one group welding robot collaborative work of real time control algorithm,optimal control algorithm and Internet communications,and in the process the simulate software of algorithm for simulation and design,its application in actual production site offline virtual debugging,achieved certain results.Firstly,this paper for the six degree of freedom welding robotic applications and research background do related introduction,pointed out to achieve control group robot intelligent online,research the intelligent control algorithm and simulation design is reasonable and effective.Secondly,in real-time control of six degree of freedom welding robot,based on TMS320LF281 x series DSP chip,using the special digital signal processing ability,real-time of welding robot kinematics inverse operation,and the motor of each joint implementation of closed-loop control,fast algorithm of gravity compensation of robot is studied,algorithm is realized by using C language solution,and verify algorithm in the DSP chip effectiveness.The DSP chip of robot joint servo motor for PWM control algorithm,robot research of typical linear and circular interpolation path,DSP control chip on the joint motor shaft real-time PWM control,studied the adaptability of the algorithm when the robot needs to carry out complex curve interpolation,using DSP chip of joint motor encoder signal real-time processing,improve on the accuracy of each joint axis motor control real-time.Again,in the control at each joint of the robot motor to realize interpolation based on using DSP chip,more than one group robot research collaborative work in trajectory planning problem,the algorithm of design and Simulation of control system with intelligent algorithm to avoid the interference of the trajectory of the robot,and optimal path in order to make the process time of the province,this problem is formulated as a multi-objective optimization problem to solve,is a very effective and more research way.After the introduction of the six degree of freedom welding robot actual production environment all constraint conditions,the solution to meet certain cost-effective optimal path and for optimizing the path of each manufacturing feature points,such as solder joints or gripping tool point were reasonable layout,make it to more than one group robot coordination body welding production,and according to the welding process,real-time robot path planning research and application genetic algorithm to complete multiple robots through collaboration to complete all the process operation of a station in real time on a DSP chip,Finally,the research of six degree of freedom welding robot including experiment and Simulation Design: experimental verification is in DSP applications on the joint motor of the robot real-time control,closed loop of the motor control system in experimental design and hardware circuit wiring,and validate the use of DSP solution of the robot inverse kinematics algorithm is feasible;the second part for simulation design,in the process of the simulate software,design a welding station technology platform,adding robot of all kinds of control signals,and the software's built-in controller is proposed to deal with the feedback signal,use to meet the actual production of the robot control algorithm for contrast and validation the feasibility of the algorithm.