Design Of Industrial Parallel Robot Controller Based On Wireless Network

With the progress of science and technology,the development of society,the level of industrial production automation requirements are higher and higher,the artificial has been unable to meet the requirements of the quality and efficiency of industrial production.Industrial robots play an irreplaceable role in social production.Therefore,in order to develop a new type of industrial parallel robot controller as the main line,the robot controller is designed.The main contents are as follows:Based on the analysis of parallel robot prototype,using the method of spatial geometry and vector algebra to establish a simplified model of three DOF parallel robot,by establishing the link coordinate system to determine the parameters of each joint between the calculated by the model of parallel robot forward kinematics formula and inverse formula,in C language under the condition of transplantation and use the MATLAB to emulation proof.Through open source machine vision module,the integrated development environment of python programming interface is used to complete the research and development of the visual algorithm of the parallel robot controller,realize the combination of the controller and the visual interface,provide the robot perception of the environment to realize the parallel robot sorting and picking ability.According to the functional requirements of the controller,the industrial robot controller based on the wireless sensor network and the remote communication is put forward from the aspects of the overall structure,working mode and data communication of the controller.The hardware and software of the controller are designed.The remote control of the robot controller is realized.The wireless communication protocol of the system is studied according to the robot controller,the controller according to the needs of data transmission,the data frame structure for the system,realizes the effective and reliable remote wireless data transmission.The need for human robot interaction,the robot control system,PC interface for system development and Research on the architecture of the remote real-time monitoring system based on Socket communication technology,through the design of 3D simulation,using Visual Studio programming interface design and communication protocol.Finall,the hardware circuit of the robot is tested and the whole software is debugged.