Design Of Six-axis Industrial Robot Control Systems Based On PLCopen

As an important production tool in the era of intelligent manufacturing,industrial robots will play an increasingly important role.The control technology,as the core technology of industrial robots,will play a decisive role in the performance of industrial robots.Aiming at the openness and scalability demand of current industrial robot control systems,the PLCopen motion control standard is studied,and the industrial robot control system is adopted based on PLC in this thesis.In the CoDeSys software development environment,the control system is designed and developed which is suitable for six-axis industrial robot.The following is the thesis' s main works and results:Firstly,the background and significance of the research are introduced briefly,the PLCopen motion control standard and IEC61131-3 programming language are reviewed,then,the research status of industrial robots about domestic and foreign is introduced,and the development trend of industrial robots is expounded.Secondly,the overall scheme of the six-axis industrial robot control system is designed.With CoDeSys as the software development platform,PLCopen function blocks for motion control and EtherCAT(Control Automation Technology)are adopted,and it is established that robot control systems based on PLC master-slave control mode,and the communication between controller and teach pendant are realized through ModBus.Thirdly,the ER50 six-axis industrial robot is used as the research object,and its kinematic model is established and analyzed.Besides,according to the mechanical structure of the six-axis serial industrial robot ER50,the link coordinate system model and the forward and inverse kinematics equation of the robot is established,and the conversion relationship is analyzed between the robot's end pose and the joint rotationangle.Fourthly,functional blocks for the six-axis industrial robot are designed and fabricated.And it is developed based on structures,arrays and function blocks in the SMC_CNC library,which includes coordinate transformation,forward and inverse kinematics transform,point to point,linear and circular interpolation motion control function blocks,and so on.Fifthly,functional modules of the robot are realized by the mixed programming of CFC and ST,which includes robot motion control module,teaching control module,online programming module,system setting and monitoring module.And control functions of six-axis industrial robot are verified by experiments.Finally,the work of this thesis is summarized,the existing problems and shortage are explained,and put forward to some prospects.