The Research On Control System Of Water Jet Cutting Robot Based On PMAC

As an emerging technology,water jet processing technology has been developing rapidly in the past decades.Its application covers all aspects of industry production and people's life.Water jet technology was successfully used in much industry,including machinery manufacturing,automotive,aerospace,food,medical and etc.The combination of water jet processing technology and modern processing technology can form an advanced contactless special tool.Industrial robots have a high degree of flexibility in the spatial range and a large working space.By combined water jet processing technology with industrial robotics,water jet machining can be extended from simple two-dimensional cutting to complex three-dimensional surfaces processing.Firstly,the structure of water jet cutting robot is analyzed,the composition of abrasive water jet cutting system is studied,and the mechanism of abrasive water jet cutting is studied.Based on the structural characteristics of the water jet cutting robot,the motion model of the water cutting robot was established using the second coordinate transformation matrix based on D-H coordinate system rules.The forward and inverse kinematics algorithm of the water cutting robot was analyzed according to the D-H parameters.The multi-solution problem that arises in the solution of inverse kinematics was resolved by deleting propose.It is foundation of the PMAC motion program and the preparation of the upper computer program.Based on the water jet cutting robot,in order to overcome the inherent defects of the traditional robot control architecture,a hardware control scheme based on "IPC + PMAC" master-slave distributed dual microprocessor is proposed.An open motion control system was constructed.The control system is based on IPC and the PMAC motion control card,which is the control core.IPC and PMAC motion control card communicates with each other by PCI and DPRAM to form a control center.The control system uses Panasonic MINAS A series AC servo motor and matched actuators to form a semi-closed-loop servo drive system.The control of each motion axis was realized by receiving the control signal from PMAC.And use PMAC's own PID Tuning software to adjust PID of all motors for better control performance.According to the requirements and characteristics of water jet cutting robot processing,the development of the software system for the water jet cutting robot control system was completed with the idea of modularization.It is divided into three parts: IPC upper level management software,lower level PMAC real-time control software and communication between IPC and PMAC.Management software mainly completes the human machine interface,parameter management,status display and other non real-time functions.The real-time control software mainly completes basic control functions such as tool compensation,interpolation operation,position and speed control.IPC and PMAC establish communication through Pcomm32 dynamic link library.