Research On Palletizing Robot Motion Controller

With the development of industrial robots in China,high-precision servo motors,speed reducers,and advanced robot motion controllers are gradually becoming localized.In order to further reduce the cost of the robot controller and the ease of use of the controller,this paper focuses on the study of palletizing robot motion controllers,designing palletizing robot motion controllers that support four-axis movement,using Raspberry Pi single-board computers and motion controllers make up a robot control system.Then,the kinematics and dynamics of a four-degree-of-freedom palletizing robot manipulator are analyzed,and the robot's trajectory planning and control algorithms are studied.Firstly,on the basis of analyzing the current robot motion controller,Raspberry Pi is used as the man-machine interface,the motion controller is designed with highperformance MCU to complete the real-time control.While meeting the motion control requirements of palletizing robots,the difficulty of research and development and manufacturing costs of the motion control system are reduced.Then,according to the demand of robot motion control,taking the DSP56F807 as the core,the hardware circuit of the motion controller is designed using the interface isolation technology.Finally,the software architecture design of Raspberry Pi and motion controller is applied to the concept of software layered design.With Raspberry Pi as the core,a good man-machine interface was designed.Realize teaching,parameter setting and trajectory calculation of robot system.Take DSP56F807 as the core to realize the trajectory planning and closedloop control of robot motion.In the design of the motion control system,the robot arm of the palletizing robot was modeled.Analyze kinematic problems of palletizing robots.Using D-H(Denavit-Hartenberg)method to calculate the manipulator to perform forward kinematics equation.The inverse kinematics of the robotic arm is solved using the forward kinematics equation of the robot arm,and the motion of the end effector of the manipulator in the operating space is converted into the motion in the joint space so that the desired motion is performed.After determining the positive and negative kinematics model of the palletizing robot manipulator,in order to ensure that the end effector completes the specified task,the trajectory planning algorithm of the robotic arm in Cartesian space and joint space is compared and studied.Finally,in combination with the actual application requirements,S-curve trajectory planning in joint space was studied.In order to realize the closed-loop control of the robot joint space joint position,based on the dynamic model of the robot arm of the palletizing robot,the dynamic characteristics of the robot arm are analyzed,and the PID iterative learning control algorithm is used to control the robot arm.Finally,use Matlab/Simulink to simulate the control system.The robot trajectory tracking performed by the robot end is better achieved when the joint angle changes according to a certain rule.