Research On Trajectory Planning And Embedded Control System Of Handling Robots

Handling robots are widely used in standardization and large-scale production,such as automotive industry,flexible automatic production lines,and so on.The object studied in this paper is a new type of four-degree-of-freedom transfer robot.The transfer robot has the characteristics of large working range and small occupied space.It is mainly adapted to the working situation of cargo handling.The main contents of the full text are as follows:(1)In order to make the transfer robot move continuously and smoothly in the process of moving the goods,the kinematic forward and inverse solution of the transfer robot is solved,and the workspace of the robot is analyzed in conjunction with the structural size of the robot;on this basis,the work is planned.Tasks,researching the interpolation function,propose a "5-3-5" trajectory planning method.In order to improve the positioning accuracy of the robot,the error factors affecting the positioning accuracy of the end effector of the robot are studied.A method of iterative compensation by spatial interpolation is proposed.The results of simulation experiments show that this method can improve the positioning accuracy.(2)In order to realize the motion control of the robot,a control scheme based on PC+STM32 microcontroller is proposed.For the hardware part of the robot control system,hardware models such as servo motor,driver,and reducer are studied and determined.Circuit diagram drawing of the key part of the embedded control system.The structure of the software platform of the embedded control system is studied.The control system platform based on the STM32 firmware library and the embedded real-time operating system software platform is completed by the MDK software,and the real-time and multi-task processing requirements of the transfer robot control system are achieved..(3)Through the research on the implementation scheme of the embedded control system,in order to make the handling robot better complete the task,according to the hardware and software design of the embedded control system,the embedded control system platform based on PC+STM32 is completed.The program development,the use of "5-3-5" trajectory planning method to achieve the smooth handling of the robot's work tasks.