Research On Servo Control System Of A Production Line Handling Robot

Handling robot, as one of the industrial robot, is a main and essential production equipment in modern industrial production.But in domestic field, the core device of the major equipment is still imported. So they are expensive and have high maintenance costs.We always lack of low cost, high precision and good real-time automation equipment.Embedded system introduced in industrial application is a popular research direction with positive practical significance. Embedded systems have many advantages, for example, low cost, high accuracy and good real-time.This article designed the hangdling robot with practical industrial application value based on S3C2440A ARM9 processor chip, TMS320F2812 processor chip of DSP2000 and STM32F103 processor chip. The system uses a three-layer control structures with distributed control and centralized management. Software development platform is designed based on embedded Linux system and the system is free and opensource.At the same time, direct-current servo motors with good speed and high torque performance is used for the actuators. These provide the basis for the control system to meet the design requriments.This paper introduced the present development situation of servo control system of the robot, and describes the related technology. After analyzing the needs of the system, the paper put forward overall control scheme. On the software side, the QT interactive software on PC, the applications and drivers of Linux, direct-current motor speed control program, CAN communication program are designed.And the article also explores expert pid controller and gives the method of design. On the hardware side, drive circuits of the brushless direct-current motor based on DSP and STM32, sense circuits, communication circuits are completed.Finally, a simplified verification platform is designed to verify the effect of control system. Communication experiments of three-layer control systems, the test of motor speed control, the real-time test of control system are verified on the platform. The experiment results show servo control system of handling robot has a good overall performance.