Research And Implementation Of Teaching System Of Three-coordinate Manipulator

Three-coordinate manipulators are widely used in industrial fields such as palletizing,dispensing,painting,mold grabbing,etc.At present,the operation methods of three-coordinate manipulators are mostly teaching boxes.In the occasions of complex motion trajectories,this operation obviously cumbersome and inefficient.This thesis has proposed and realized teaching the trajectory of the manipulator through direct teaching to obtain the trajectory path information of the manipulator in real time,and to process the trajectory data.Besides,this thesis has also achieved a high degree of reproduction of the trajectory of the manipulator by studying the trajectory planning and speed planning control algorithms of the manipulator.The main contents of this thesis are as follows:(1)According to the demand analysis and performance requirements of the threecoordinate manipulator teaching system,the overall scheme design is introduced in detail from the five aspects of overall structure,task allocation,state design,communication design and control algorithm.And the control structure of "teach pendant + pulse servo motion controller + servo drive system" is adopted.(2)This thesis focus on the trajectory planning and speed planning of the teaching system,and has studied the interpolation algorithm of the three-coordinate manipulator in space,including spatial linear interpolation algorithm and spatial arc interpolation algorithm,and verify the effectiveness of the algorithm Sex.The advantages and disadvantages of common acceleration and deceleration algorithm models are analyzed,and the traditional S-curve acceleration and deceleration algorithm is improved.An improved S-curve acceleration deceleration algorithm is introduced for velocity planning in the trajectory.Inter-segment speed planning combines forward-looking ideas to solve the inter-segment connection speed and the problem of continuous trajectory speed planning.(3)The track jitter and redundant track points appearing in the direct teaching studied the mean value filtering algorithm and Douglas Puck algorithm respectively so as to process the track point data,realize the program writing,and conclude that the two algorithms have good effects in teaching trajectory optimization through experimental verification.(4)Firstly,building the experimental platform of the three-coordinate manipulator teaching system is to introduced the overall control architecture,servo drive settings and wiring,and programming interface of the system;Then,the graphical interface is designed to realize the data transmission and communication program of the upper and lower computers.Finally,design the teaching process of the system: zeroing operation,teaching operation,parameter saving operation,reproduction operation,and complete the corresponding program design.