Research On Motion Control System Of Industrial Handling Robot Based On PLC

In recent years,with the rising cost of labor and the continuous reduction of China's demographic dividend,a variety of industrial robots are widely used.Based on the motion control technology of industrial handling robot and the programmable logic controller(PLC)of Yokogawa FA-M3,a motion control system of industrial handling robot is developed,a series of defects,such as low reliability,High R & D Cost,Long R& D cycle and weak expansibility,are solved.Firstly,the mechanical structure of the industrial handling robot is studied,and the kinematic performance of the robot mechanism(that is,the parallel four-bar linkage mechanism)is discussed in depth Then,according to the kinematics expression of the robot,the kinematics and dynamics simulation is carried out.Then,according to the structure characteristics of the industrial transport robot,and its relative performance in kinematics and dynamics,the joint trajectory of the robot is designed accordingly,and among many trajectories,the optimal trajectory is selected as the moving trajectory of the robot during the carrying operation,in addition,a new method of origin regression is created by the robot.The robot does not need to read the encoder signal,but can achieve the origin regression by interpolating motion,the experiment shows that the method of origin regression is fast,relatively accurate and convenient to modify the origin of coordinates.Finally,the process of cargo handling is analyzed in detail,and a new teaching method is created,and for the work of loading and unloading goods developed a supporting function of the program module.It can make the teaching process more concise,and greatly improve the efficiency and accuracy of teaching and reappearance of industrial handling robot in stacking.The calculation method planning is more scientific and has better feasibility.Figure 51;Table 10;Reference 48...