Research On Control Experiment System Of Four-DOF Palletizing Robot

Along with the high speed development of logistics industry,the application of the palletizing robot is more and more widely used.The palletizing robot can finish palletizing tasks quickly and efficiently on the basis of a fixed trajectory,hence,with the help of palletizing robot people can avoid jobs which accompany with heaviness,danger,repetition and baldness.That is the reason why the research of palletizing robot is significant in engineering fields.The control system of palletizing robot has the advantages of high performance,low cost,usefulness.Firstly,the background and significances of the research are presented.The thesis investigates and summarizes the research about palletizing robots at home and abroad.At the same time,the thesis analyzes the circumstance of the research of control system of palletizing robot at home and abroad.According to the operational parameters of palletizing robot,the thesis designs mechanical structure and control experiment system of palletizing robot.Secondly,the thesis creates two levels hardware control system,the multi-axis motion controller is used on the upper level,the motor driver and motor are used on the lower level.Meanwhile,the model of multi-axis motion controller,motor driver and motor are selected.The thesis selects Arduino Uno R3 controller,Faulhaber motor and intelligent PID motor driver module of Neurons and complete hardware connection according to the principle.According to the D-H principle,the D-H parameters of each joint on palletizing robot are obtained.The kinematics of palletizing robot is investigated and the kinematic equation of palletizing robot is established.The kinematic positive solution,inverse solution and moving space of palletizing robot are obtained.Finally,according to the control principle of palletizing robot,the thesis analyzes the mission planning of palletizing robot in order to realize the feasibility of four-dof palletizing robot multi-axis linkage control.The linkage control of two axis is completed on the basis of Arduino IDE software development platform and the communication bus of I2C.Simultaneously,the simulation of iterative learning techniques of palletizing robot's control system is founded.The iterative learning technique is especially suitable for the control system of palletizing robot which demands high repeatability and accuracy.