Design And Implementation Of Control System For 6-DOF Industrial Robot Based On CPAC

Industrial robotics technology integrates the development of advanced technology in machinery,electronics,control,computer and other disciplines,and represents the highest achievement in the field of automation.As the core of robotic control technology,the research and development of robotic control system has attracted the attention of industry and scientific research institutes at home and abroad.Traditional commercial robots mostly adopt closed architecture.The system has poor compatibility and low openness.It is difficult for users to adjust the system to meet their own needs,which limits the reconfigurability of the system.Therefore,the development of robot control system with a certain degree of openness has great practical significance and research prospects,which is also the future development trend of control system.In this context,the control system of six-degree-of-freedom industrial robot is studied and explored,and the basic functions of the robot control system are realized,which lays a foundation for the follow-up study of feasibility open control system.This paper mainly takes GRB4016-03-23(Tamagawa)industrial robot as the research ontology.Based on CPAC(Computerized Programmable Automation Controller)platform and OTOSTUDIO software as programming environment,the control system of the robot is designed and implemented.The hardware of the control system adopts embedded architecture as a whole,and the code of the software layer mainly adopts the idea of structured and modular design.According to the different priority of tasks,the whole software layer is divided into human-machine interface layer(UI),task planning layer(TASK)and motion control layer(MOT).The man-machine interface layer is responsible for the information exchange between the system and the operator,which facilitates the user to directly operate the robot body,and manages the system parameters and states.The task planning layer is responsible for real-time scheduling and planning of tasks.Motion control layer is responsible for software and hardware data interaction and task execution.Then,based on the kinematics model and trajectory planning algorithm of the robot,the core modules of the system are developed,including the absolute value encoder module,kinematics module and trajectory planner module.Finally,the development and code implementation of the specific functional modules of the robot,mainly some basic functions of the robot operation,including TASK task management,point operation,state management,parameter setting,single axis zero-return,coordinate recording and teaching movement,etc.At the same time,the UI interface of the system is designed.Finally,some functions of the robot control system are validated,including the validation of the kinematics module of the robot,point operation,uniaxial zero-return,linear motion and arc motion.Experiments show that the robot runs normally,and the control system designed in this paper basically meets the expected goals and requirements.