Robot Trajectory Planning And Control System For Cartesian Coordinates

Advanced production equipment and degree of production automation determine the level of contemporary social production,product quality and economic benefits.As a combination of computer,electronics and machinery,industrial robot is a typical equipment to realize automation and intelligent production.Palletizing robot is a branch of industrial robots,mainly used in logistics and warehousing,with high efficiency,low cost automatic operation mode to replace repetitive and heavy labor mode.Therefore,the working efficiency of palletizing robot is always taken as the primary reference standard.Secondly,the energy consumed by the palletizing robot and the impact caused by its movement process have gradually become the key to the research.Impact in the process of robot movement will cause overshoot,vibration,mechanical wear and loss of equipment life,etc.,smaller impact is also more conducive to capture,transport and release in the stacking process,so it is of great significance to optimize the working efficiency of the stacking robot and reduce the impact in the working process of the stacking robot.The purpose of this paper is to use the Cartesian coordinate palletizing robot as the research object,and to use the cigarette as the object of the pallet,aiming at improving the palletizing efficiency of the palletizing robot.Under this condition,the motion planning algorithm is studied and realized.The main research contents of this paper are as follows:Based on the analysis of the status quo and development trend of domestic palletizing robots,the AC servo system is selected as the object.Analyze and introduce the characteristics of the AC servo system,consider the servo motor as the influencing factor of the trajectory planning,and then based on the Cartesian coordinates,the robot structure and the palletizing task,ignore some influencing factors,and establish the motor drag model as the palletizing trajectory planning algorithm.Do the actual support.On the basis of the analysis of the conventional trajectory algorithm in time-impact,it points out the shortcomings of the conventional algorithm in terms of jerk,and the number of mutations is large and the mutation is large.The high-order polynomial can reduce the jump mutation.In this paper,the fourth-order polynomial is used to improve the "S"-shaped curve to obtain the 7-segment fourth-order polynomial.By comparing with the existing algorithm,the analysis shows that the fourth-order polynomial is used to improve the "S" type.The curve performs better in terms of time.The complete 7-segment fourth-order polynomial is classified for various situations,and 6 segments,5 segments,4 segments,etc.are obtained,which are suitable for various sports occasions.In order to verify the practical effect of the fourth-order polynomial algorithm in the palletizing robot,on the basis of the mechanical structure,STM32F407 is selected as the core design control system,and the design includes power,IO,button,communication,motor control and storage modules.Then the displacement is determined by the number of pulses,the pulse frequency determines the speed as the idea,the fourth-order polynomial is discretized,and the program implementation algorithm is written.Singleaxis motion can be controlled by STM32's timer output comparison function analog PWM wave transmission pulse.Multi-axis motion can be transmitted by DMA+PWM to avoid frequent pulse loss.Finally,the pulse data is collected by the motor encoder.Thesis algorithm verification.