Research On Production Line Handling Robot Control System

With the increasing cost of human resources,it's urgent to move things by the robot instead of human labor.At present most of the domestic robots use a PLC or a dedicated control system,which makes the system cost greatly.Meanwhile,for overseas handling robot control system,although it has superior performance,the price is very high,and the technology is not open to the public.Therefore,it is of significance for the development of a cost-control system.In this paper a set of master-slave control system is developed and designed based on"ARM+THB6128".The control system uses STM32 as the main controller,motor-driven modle from the controller as a master-slave.They communicate with each other by serial communication in the machine.The control system has a high cost and some secondary development capabilities.The main research work of this paper mainly has the following aspects:(1) Under the given robot by premise enterprise,first the relationship between manipulator end pose and control variables is derived by kinematic analysis.Then the kinematic model is obtained by inverse kinematics,the corresponding joint variables is gradually found,thus contributing to the X-axis,Z-axis,U-axis,V-axis motor control.According to the functional requirements of the enterprise proposed for control system,the overall control system design is designed.The overall control system design is the basis for system hardware design and software.(2) On the basis of the overall structure of the system hardware designing,the system power-supply module,motor-driven module and the main control unit module have experienced chip selection and circuit design.(3) In order to prevent the motor from losting step and overshooting,we need to use acceleration and deceleration algorithm for motor control.In this paper,a trapezoidal acceleration,deceleration and S-ramp correlation algorithm derivation are applied for derivation,while the multi-axis algorithm is further studied and rapidly DDA algorithm is applied on handling robot.(4) On the basis of the control system algorithm study based on Keil the program about master and slave communication module,motion control module,the main control unit module, man-machine interaction module is programed.For human-computer interaction module,this paper in terms of the hardware layer.protocol layer.application layer,etc.It has discussed about implementation of serial screen program.(5) Finally,uses the Keil virtual oscilloscope software simulatingly conducts a systematic and multi-axis acceleration and deceleration algorithm validation.Through functional verification of system,it meets the business needs.the proposed low cost for control system.In short,this article from the position of the matrix derivation,hardware design, algorithm research and other aspects of the handling of the manipulator was studied.Through the multi axis linkage control,the handling robot can finish the task according to the predetermined path.