Research And Design Of One-arm Collaborative Robot Control System

With the rapid pace of industrial upgrading in all walks of life,the labor force is decreasing year by year,and the application of robots has become very extensive.The single-arm collaborative robot studied in this paper is mainly used to assist the staff to work in the computer and realize the face tracking function.Based on the analysis of the research status of collaborative robots at home and abroad,this paper constructs a small integrated six-axis robot arm,realizes real-time communication of the robot arm control system based on CANopen protocol,and drives multi-axis synchronous motion of single-arm cooperative robot.Through the forward and inverse kinematics analysis of the mechanical structure of the cooperative robot,the point-to-point motion of the end of the cooperative robot is accurately realized.In order to prevent the robot arm from colliding with the object,the capsule body is used for collision detection simulation,which lays a foundation for the subsequent trajectory planning.The main work of this paper includes the following aspects:1.By reviewing relevant literatures,the research status of collaborative robots at home and abroad is summarized.The final design of collaborative robots is determined by comparing different collaborative robots.2.Introduced the components of the cooperative robot Kollmorgen RGM joint module,and briefly introduced the mechanical structure of the collaborative robot.The composition of the cooperative robot control system isexplained.STM32F407ZGT6 is selected as the main control chip,and the circuit design and CAN communication principle of the control system are explained.3.Learn to understand the relationship between CAN bus and CANopen protocol,and study the core content and communication method of CANopen protocol in detail.The open source protocol stack canfestival,one of the CANopen protocols,is selected as the communication protocol,and the canfestival is transplanted into the main control chip STM32F407ZGT6,and the related functions are written.According to the communication rules of the CANopen protocol,the communication parameters of the RGM joint module are configured.4.Learn to master the basic knowledge of robot kinematics,use the D-H notation to establish the kinematics model of the cooperative robot,and finally obtain the positive kinematics equation of the cooperative manipulator.The inverse kinematics of the manipulator is obtained according to Pieper's law.The correctness of the inverse solution was verified by using the MATLAB robot toolbox.5.In order to avoid the collision between the cooperative robot and the static object such as the workbench,the working space range of the cooperative robot arm is obtained by Monte Carlo method.The mechanical arm is equivalent to the capsule collision body,and the collision detection of the robot arm is simulated and simulated.The cooperative mechanical arm joint module is debugged,and the lower position machine and the upper computer are connected to detect the point-to-point motion,and the cooperative robot armface tracking function is initially realized.