Research And Application Of Three-freedom Interactive Robot Control System

As an advanced manufacturing equipment,robots are widely used in various industries.In the development of the robot,the research and application of the robot control system has always been one of the hot topics.With the improvement of microcontroller performance,the control system with the microcontroller as its core has received more and more attention.For this reason,this article conducts in-depth research on the industrial robot control system with the microcontroller as the core.The research content mainly includes the following four aspects:(?)For the three-freedom robot's precision,high performance,real-time and other requirements,this topic selects NXP's new high-performance micro-controller K64 as the core processing chip.At the same time,a universal hardware design solution is given around the processing chip.,and based on component design ideas to design the main controller circuit and related peripheral circuits.(?)As the core of the whole control system,the robot control software is based on the idea of software engineering componentization,and design the bottom drive components and application layer components of the robot control system.At the same time,in order to improve the system's real-time performance,concurrency and interrupt response performance,the lightweight real-time operating system MQX_Lite was introduced into the robot control system,and the complex functions were divided into multiple independent tasks,which effectively reduced the programming difficulty.(?)In order to improve the accuracy and efficiency of the robot,an interpolation algorithm is introduced.The core idea of the algorithm is to use the movement trend of the next target point to determine the feed position.It is verified that the improved algorithm has a significant improvement in robot interpolation efficiency and interpolation accuracy.(?)Based on the analysis of the functional requirements of the control system,the development of the upper computer is carried out.Both sides of the communication are based on the agreement and are developing with a modular design concept.Using palletizing robots and writing robots as experimental platforms,the feasibility and reliability of the entire control system were verified.The three-freedom interactive robot control system based on K64,which is studied in this thesis,is based on the component-based design concept for hardware and software design.Through experimental verification,with a variety of end effectors,a variety of functional requirements can be fulfilled,with a certain degree of versatility and high work accuracy.