Design And Research Of Robot Workstation Collaboration Based On PLCopen

Advanced CNC machine tools and robots have become the key to a new generation of intelligent manufacturing.Motion control,as the core technology,has been widely studied.Due to the closed nature of the traditional motion control system,the open motion control system has become a more advanced choice.Moreover,the PLCopen organization standardizes the programming standards,and the mode of functional block encapsulation greatly improves the portability and efficiency of the code.This study is based on an open motion control architecture.For the characteristics of three-axis robots with a small reachable space and complex trajectories that cannot be posture adjusted and welded,a collaborative welding method is used to design and implement function blocks that conform to the PLCopen standard.The main work of the thesis is:1)According to the typical model of the random trajectory of the side surface of the round tubular workpiece,a compact robot workstation with "three-axis robot + H-type positioner" was built.The workstation uses ARM-Cortex A9 as the main controller,the servo device as the actuator,Pro Con OS e CLR as the runtime system,Matlab connects to the control system through OPC communication and undertakes external data processing..2)Analysis of key technologies in collaborative welding.Decoupling the kinematic chain and proposing a collaborative strategy under the constraint of "position + time";for the three-dimensional space motion,an S-shaped speed planning model was established;the space-prepared function blocks MC_Move Robot_Ready,MC_Move Rotation_Ready and the cooperative function block MC_Move Cor were designed;Introduced the application of Bezier algorithm in Unity to generate space trajectory simulation technology..3)Perform intensive interpolation processing on the original data set generated by the workpiece model.Threshold interpolation and speed forward interpolation are used for the three-axis robot free programming function block;An improved threshold interpolation and a collaborative intensive algorithm based on vector direction forward interpolation are used for the coordinate function block,an improved.Interpolating the adjacent step length and the excessively large speed and angle respectively can make the trajectory smoother.4)The platform built by the application verifies the function blocks and simulates the three major motion function blocks of the collaborative engineering.The large-scale collaborative data sets are transferred to the execution unit in batches according to the communication cycle and executed sequentially.The real-time position of the motor shaft is dynamically tracked through the Matlab GUI interface.and the tracking results verify the effectiveness of the coordination points under the "position + time" constraint.