Research On Palletizing Robot Control System Based On ARM-embedded Platform

Palletizing robot is a very important equipment in modern handling system.It is widely used in the field of industrial automation.It will be expanded to more fields in the future and play an increasingly important role in the development of society.With the rapid development of science and technology,palletizing robots need to improve processing capabilities.Their intelligence and handling flexibility also need to be improved in response to the needs of social production.The controllable costs,higher and higher performance determine that the palletizing robot will be fully utilized in more industries.The control system is the core of the entire robot,which determines the merits of job performance.With the rapid development of industrial technology,the scalability,portability and integrated open architecture of control system gradually become the focus of research.The research goal of this paper is the control system of a four-DOF cylindrical coordinate palletizing robot.Adapt to the need of the palletizing robot's motion control,this paper studies the controller software system and hardware architecture.Under the premise of ensuring control performance,this paper researches how to effectively reduce the development cost,shorten the development cycle,and design a controller with excellent performance and rubustness.Firstly,this paper uses the STM32F1 microcontroller as the core of the hardware architecture of the controller,and use modular methods in order to expand the circuit of each functional module.The modules are independent of each other to ensure excellent scalability of the system.Secondly,the open software is researched on the basis of hardware architecture characteristics.The software platform is built with ?C/OS-? real-time operating system to ensure the system's hard real-time and multi-tasking capabilities.Based on ?C/GUI,this paper designs man-machine interface for user-friendly operation.According to the specific function of the module division,the control system can achieve teaching reproduction,file management,task planning,fault handling,obstacle avoidance and other functions.For point to point movement,using S-type optimization acceleration and deceleration algorithm can achieve a smooth and continuous axis velocity and acceleration.Finally,The results show that the controller developed in this paper can realize the motion control of palletizing robot.It has no vibration during the movement,stable operation and high repetitive positioning accuracy to meet the expected requirements.