Research On Control System Of Fiber Network Wiring Robot Based On IPC

Since the 21st century,the optical transmission capacity has got rapid development due to the constant progress of optical network technology.And improve the automation and intelligence of the optical circuit switching wiring system which is one of the hot spot in the field of automation.At present,domestic automation equipped with optical fiber wiring equipment is still relatively backward.In order to solve this problem,this subject introduces a new type of optical fiber network wiring robot to replace the traditional manual wiring of the optical fiber distribution frame.This kind of optical network fiber wiring robots could be applied to complex environment,make up for enclosed the defects of the ark of the small typed optical fiber wiring of manual operation in the traditional optical network,and thus improve the intelligence of the system.In this paper,the network optical fiber wiring robot with analysis of mechanical institutions as the research object,studies the control system design details.First of all,from the overall function of different mechanical actuators of the robot is analyzed,considering the different control objectives of the various mechanical actuators,analyzes the requirements of the control system respectively,so as to determine the overall system control scheme.At the same time,the overall design of the control system of the chassis and the manipulator is introduced respectively.And then,on the basis of previous theoretical work,set up the network on optical fiber wiring robot controller hardware system platform,the Advantech IPC UNO-3072 is used to complete the controller design,and shows the function of each of the different hardware modules in detailed.Secondly,the design of the robot system software is introduced in this paper,including the overall structure of the system software,UNO-3072 modules related,detailed configuration method.Then,this paper introduces the system control program design,including the control program of the robot positioning function and designed jump line rule algorithm to avoid fiber cross twisting.Thirdly,complete the implementation of full-featured robot control system,make the environmental information,status information of fiber optic cable and optical fiber rabbet,the actuator movement of the robot system can be the operator observation information in real time.At the same time make the form of a friendly man-machine interactive graphic interface manage optical fiber wiring,will save people study the data and specific instructions,make them adapt to the system of operator process and manipulation of the robot to complete the automatic optical fiber wiring simply.Finally,by analyzing the kinematics model of the system,verify the accuracy and reliability of the physical prototype and the kinematics model of the robot.On the whole work is summarized in the paper end,summarizes the implementation process of robot control system.At the same time shows that the control system design deficiencies and is yet to be improved,For the future further research put forward some ideas and points out the existing research bottlenecks,predicts their future prospect.