The Control System Design Of Modular 6-DOF Light Load And Transfer Robot

In the past few years,the robotic industry in the country has been gained more and more attention than ever before.Handling robot is a widely used robot type,which had been more and more used in handling work in factory production lines currently.To solve the actual needs of enterprises,through the actual business-related research,we develop a robot control system,which own high versatility and scalability for independent design robot based on open multi-axis motion control card,to ensure the robot complete tasks stablely.Finally,do robot error compensation,load and teaching transport experiments to verify performance.The main study in this paper to complete as the followings:(1)To have a analysis of the robot configuration,use DH parameters to establish the robot coordinate system,with the link parameters of the robot,derive the robot kinematics equations,to provide a theoretical basis for control software later,then perform a simulation of the workspace using matlab based on the kinematic equations;(2)According to the work requirements of the robot to determine overall control mode,build a robot hardware control system.use VC ++ 6.0 programming language,write the robot control software,which can realise enable module motion,kinematic calculations,teaching and other functions based on the system;(3)To build a robot comprehensive experimental platform,use the high-precision laser tracker measuring robot actual link parameters,demarcate link parameters error,and make a error correction in the control software,to realize accurate operation of the robot;According to absolute positioning experiment to measure the positioning error of the robot;According to the robot load and teach Handling experiments to verify the performance meets the job requirements or not.Study in this paper will provide a foundation for engineering applications of the modular 6-DOF light load and transfer robot.