| In order to reduce the cost of using industrial robots,shorten the development cycle and solve the problems of different robots' compatibility with the control system,the industrial six-axis robot control system based on TwinCAT3 was developed.Due to domestic robot industry started relatively late,for the robot's grasp core technology is less,so this topic research on robot control system for promoting the robot industry development in our country has a certain practical significance.This topic firstly describes the basic construction scheme of the whole industrial robot system.This paper focuses on a typical industrial six-axis robot.The system use PC loaded with TwinCAT3 software as the EtherCAT master and six bus-type servo drivers as the slaves.Then the kinematic modeling of the six-axis robot was carried out,and the forward and inverse kinematic solution algorithm based on the DH model was derived.The model and algorithm were verified and simulated by MATLAB.Then,the practicality of efficient operation of C++ language was used on TwinCAT to encapsulate the complex inverse solution algorithm.Then complete forward kinematic algorithm is encapsulated in TwinCAT3 PLC programming and other motion control,then carries on the HMI man-machine interface writing,finally the control of the industrial robot is realized,this topic research the industrial robot software control system in practical application,smooth running,high efficiency and accuracy. |
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