The Design And Realization Of The Control System Of The Box-type Cargo Loading Robot

At present,the application and development of industrial automation technology are very rapid,industrial robots in packaging,handling,welding and logistics and other industries have gradually played the role of traditional labor force.In recent years,with the increasing demand for goods loading in the market,the traditional manual loading method can no longer meet the demand,so the development of automatic loading is urgently needed.At present,most of the research on automatic loading at home and abroad focuses on gas,liquid,bulk and bagged items,and less on box-type items.Based on the current situation,the laboratory has developed an automatic loading system in cooperation with enterprises outside the university.Based on the control requirements of the loading robot,the construction of the robot control system is realized.This paper focuses on the development of the control system in the following aspects:(1)build the overall architecture of the control system.The main functional requirements of the control system were analyzed,and the cargo layout and stacking path planning in the compartment were firstly completed with PC based upper computer software.Then the deformation of the telescopic arm is compensated for the theoretical registration point to generate the actual registration point.Finally,the inverse kinematics solution transforms the actual registration point into the robot joint control quantity and generates the positioning instruction.The lower computer control system based on PLC receives the positioning instruction of the upper computer software to complete the actual positioning control of the robot.(2)The kinematics model of robot is constructed.Firstly,the modified d-h rule is used to establish the coordinate system of robot connecting rod,and the kinematics parameter table is obtained.Then the forward and inverse kinematics equations and velocity jacobian matrix are solved.Finally,the correctness of kinematics model is verified by MATLAB robot toolbox.(3)Robot motion planning and telescopic arm deformation analysis.Firstly,the method of cargo stacking layout and robot stacking path planning is designed.Then the end deformation of the telescopic boom is analyzed and the mathematical model is established.Finally,the reliability of the mathematical model is verified by design experiments.(4)Concrete realization control system establishment.Firstly,the hardware equipment configuration,circuit planning and configuration debugging are completed.Then based on VS programming environment,C++ programming language and MFC application development framework to write the upper computer software,based on TwinCAT related software towrite the lower computer PLC program;Finally,the rationality and practicability of the control system of the loading robot are verified by experiments.