Design Of The Control System Of Decorating Robot Based On Embedded Motion Controller

With the maturity of food 3D printing robots,the decorating robots applied to the cake plane decorating are getting faster and faster.In this paper,a control system of decorating robots is developed and designed for the flat decorating of liquid food such as chocolate and cream,The main works are as follows:First of all,the control hardware system of the decorating robot is designed.The hardware of the control system is composed of motion control module,motor drag module,sensor module and power module.The hardware of the control system can realize the movement of 5-DOF robot.Secondly,the control system software which can meet the needs of the robot's decorating movement was developed.On the basis of that,the corresponding graphic generation software was designed and finally the decorating movement of some graphics was realized.Finally,on the basis of establishing the flow model of the nozzle,the paper simulates the process of decorating in the MATLAB environment and realizes the path planning of the decorating.The algorithm of graph scaling is proposed and verified by simulation.At the same time,the corresponding optimization method was proposed.