Design And Research Of Control System For Smoke Stacking Robot

As the most typical industrial robot,palletizing robot combines the computer technology and sensor technology,with its strong flexible work ability,in the packaging and logistics industry has been a very wide range of applications.According to the distribution requirements of a tobacco company,according to the analysis of the more popular palletizing robot control system,a new type of control system of piece pallet stacking robot is designed.The system consists of off-line programming,3D simulation and controller and other key modules.In this paper,the control system requirements for the design,respectively,from the control system program,the system modular implementation and movement planning and other aspects of the smoke palletizing robot control system research and design.First of all,the control system requirements are divided into functional requirements and technical requirements for analysis and discussion,according to the system needs to determine the piece of cigarette stacking robot structure type,drive mode and system control program to ensure the control system program to develop scientific.Secondly,based on the modular thinking,the control system is divided into three modular structure,each module function is independent,close contact with each other,greatly improving the efficiency of the system implementation,and completed the key module software design for the backtracking algorithm To provide a solid foundation.Then,the motion planning of the cigarette stacking robot is divided into path planning and trajectory planning.In the path planning,the single-path and multi-path scenarios are analyzed and discussed respectively.In the trajectory planning,the modified S-type acceleration and deceleration motion rules are used in the joint space and Cartesian space respectively,and are presented in the Cartesian space The optimization of the arc transition at the corner makes the speed and acceleration of each axis smooth and continuous,which ensures the smooth and reliable palletizing process and improves the working efficiency to a certain extent.Finally,through the field test of the control system designed in this paper,the rationality of the control system scheme is verified.The experimental results show that the control system basically meets the requirements of industrial automation.