| Industrial robots play an irreplaceable role in the field of modern industrial manufacturing.However,our country's industrial robots technology started relatively late.At present,imported robots still make up a large portion of domestic market.Robot control system is the core part of the robot,in other words it can affect the robot performance directly.Therefore,the robot control system based on CoDeSys software platform have been researched and developed for six degrees of freedom industrial robot.The major work and conclusions of this study are as follows:Firstly,the status and trends of robot development at home and abroad have been researched.Taking the six-degree-of-freedom industrial robot ER50 as the research object,the robot is modeled according to the D-H parameter.And on this basis,the solution of robot kinematics problem have been studied.Then,based on the D-H parameter,Robotic_Toolbox is used to build the robot model on MATLAB and the kinematics was verified by simulation.Secondly,the trajectory planning method of robot in Cartesian and joint space are studied respectively.The straight line,arc and polynomial trajectory planning algorithm are studied.What's more,the simulation experiments of cubic polynomial and quintic polynomial trajectory planning are carried out on ADAMS software platform.Thirdly,in order to improve the accuracy of robot position control and tracking speed,the position servo control algorithm of robot is researched.Above all,the single joint of the robot is modeled.Then the control strategy combining the fuzzy control and PID algorithm is adopted to design the compound control scheme.Finally,the algorithm experiment was carried out in the MATLAB software with joint space trajectory planning.Fourthly,based on the PLCopen specification,the robot control system and operation interface is designed for the six degrees of freedom industrial robot.It combines PC with CoDeSys software.Motion control programs include positive kinematics,inverse kinematics and path planning algorithm.In addition,the operation interface includes the jog interface,the teaching interface and the online programming interface.Finally,single joint trajectory tracking experiments were carried out on the ER50 robot to verify the correctness of the control algorithm and trajectory planning.Finally,the work of this thesis is summarized,moreover the research works in future are prospected. |
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