| The industrial robot has become the standard to measure the level of the industrial automation of a country.The condition of the processing of industrial parts is harsh,and there is a lot of security risks.Industrial robots can free human beings from the heavy and poor working conditions.This topic designed a curved panel cutting robot for the steel spherical tanks of the petrochemical field.The topic will do detailed study of the servo control system and the path interpolation algorithms.To verify the feasibility of the design,the simulation experiment and scene debugging must be done.In this paper,robot visual servo control system is the core research,and a robot motion control system will be built.Detection means of the robot is structured light vision,which used to detect the position and orientation of the target object.Actuators of the robot is a permanent magnet synchronous motor(PMSM).Establish the vector control model of PMSM,and design the three closed-loop servo control system.According to the actual requirements of the project,consider following and immunity of servo motor control system,the regulator parameters of current loop,velocity and position loop would be designed.Because industrial robots work in harsh conditions,immunity is a key factor when the control system is designed.Doing simulation experiment for the servo control system of permanent magnet synchronous motor.The simulation results are given to validate the parameters of each regulator.Path interpolation algorithm is the core of robot motion controller.DMC2610 movement control card can be used for simple linear and circular interpolation,meet some requirements of the path interpolation.But the combination of simple straight lines and arcs is difficult to meet the requirements of complex curves.Spline interpolation algorithm not only can express the parse curve accurately and uniformly,but also can be used to describe the scribble.Non-uniform rational B-spline(NURBS)interpolation algorithm can be used to express the freedom curve precisely.The higher the order,the more accurate expression,and the greater amount of calculation.On the base of the current NURBS interpolation algorithm,the interpolation algorithm with variable step size in real time of NURBS is proposed to solve the problem that not take into account the accuracy and speed.This algorithm can adjust the size of step with the change of curvature.Debugging the interpolation algorithm in the industrial field to verify the reasonableness of the design.In this paper,the industrial robot motion control system has properties such as high stability,real-time,and strong anti-jamming capability.The results of experiment proved that the design of industrial robot can meet the engineering needs of accuracy and speed.And it's able to withstand the test of long-term continuous operation. |
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