Research And Application Of Six-axis Serial Robot Control System

With the increasing demand for a better life by people in today's society,higher demands are placed on social productivity.This requires machine substitution.In production,and robotic processing products instead of human manual work.In recent years,with the gradual improvement of the level of industrial automation,the application of robots in actual production has become more and more extensive.However,in the actual production environment,there are problems such as insufficient positioning accuracy of the robot,unstable operation,jitter,and poor versatility and portability of the robot control system.In order to solve the above problems,this thesis designs a robot control system with a six-axis serial robot as the controlled object,and designs and implements the related functions of the robot control system.The main research contents are as follows:In this thesis,the mechanical structure of the six-axis serial robot is defined,and the definition of each joint axis of the robot is completed to facilitate subsequent control and operation.The parameter configuration of the kinematics model of the robot in the motion controller is completed.These include single-axis parameter configuration and axis group parameter configuration.In order to improve the control accuracy,the MAC1680 motion controller and the CUS_N100 networked servo drive are selected.Determine the open universal control system using PC host computer + handheld display device + motion controller + ring network server.The robot control integrated cabinet was designed,including the layout and connection of electrical components,and the connection between the motion controller and the servo driver communication port.The parameters related to the ring servo drive are configured.The stability and low failure rate of the control system are guaranteed.To lay the foundation for program development of the control system.Ladder program development for commonly used functions.Firstly,it is the enabling and disabling function of the robot servo motor.Secondly,it also includes the reading of the spatial position of the robot end effector,the design of each joint axis homing function,the calculation of the angular deviation of each joint axis of the robot,single axis and axis group jogging,etc..And according to the actual application case develop the corresponding ladder program.At the same time,the human-computer interaction interface of the six-axis serial robot control system was designed and developed.According to the design requirements,the design process of the main interface and the robot single-axis jog operation interface was discussed,and the parameter configuration,variable binding and equipment status were realized.Monitoring other functions.Finally,the paper gives the test and verification results of the six-axis serial robot control system.The jog precision of the robot axis group and the accuracy of the circular path are tested.The repeatability of the robot is calculated according to the actual running conditions.The total running time and running state of the robot to complete the decoding work at different speeds were tested.It is proved that the robot control system solution can control the smooth running of the robot,has high control precision,and has strong versatility and program ability,and proposes a universal solution for the six-axis serial robot control system.