The Research On Embedded Control System Of Garment Patch Hanging Robot

In order to alleviate the problem that the traditional industrial robot control system is not suitable for a small working environment,a clothing piece hanging piece robot control system based on an embedded device instead of the PC as a controller is designed.The system can not only effectively reduce the size of the control system but also complete the industrial task of grabbing garment pieces.In this paper,the control system is researched for the functional requirements of garment patch hanging piece robots.First,according to the functional requirements of the robot and the performance requirements of the control system,a three-layer hierarchical hierarchical control scheme based on CAN communication is proposed,which takes the ARM embedded device as the control core.The entire control system is divided into hardware layer,control layer and application layer.The ARM central processor controls the movement of the robot by controlling each functional module.Secondly,the motion control principle based on processor S3C6410 and motion control chip PCL6045 BL is analyzed;the robot kinematics analysis and the robot toolbox in MATLAB software are used to complete the three-dimensional modeling and trajectory planning of the end effector.Set up the hardware and software platform of the control system,in which the hardware platform mainly uses the S3C6410 chip as the core to design the circuit of the core module,including the serial port circuit,the WIFI interface circuit,the COMS camera interface circuit,the power supply circuit,the voltage conversion circuit,the reset circuit,and the clock circuit,CAN module communication circuit and DSP and ARM between the HPI communication circuit;software platform design includes the establishment PCL6045 BL chip driver design,SPI device driver design,I / O driver design and QT graphical human-computer interface development,and use GT Commander control software to monitor the robot at the application layer.Finally,on the developed robot control system platform,the communication test between the control layer and the CAN module,the test of the control layer and the application layer control robot,and the scratching and coupon test of the garment patch hanging piece robot were performed.The test result verifies that the embedded control system of garment patch hanging piece robot proposed is reasonable and reliable.