Research On Control System Of Loading Robot

Robot technology is the focus of the development of countries.Robots have been widely used in industry,and their application in military field has been put on the agenda.In warships,the ammunition loading of artillery is usually completed by human.It not only works inefficiently,but also occupies the personnel of warships.There are also huge risk of casualties in wartime.In view of the above background,this paper proposes a control system of the ammunition loading robot based on Embedded Technology on the premise of fully investigating the development situation of the advanced robots at home and abroad,in order to replace the manual operation and complete the ammunition loading task of the artillery.Based on the in-depth investigation of the relevant technologies of the ammunition loading robot at home and abroad,according to the functional requirements of the control system of the ammunition loading robot,the proper configuration of the ammunition loading robot is selected.When designing the hardware platform of the ammunition loading robot,the main future scheme is selected according to the task objectives by analyzing the different driving modes and the advantages and disadvantages of the control system structure,The most reasonable software platform is selected by comparison.The standard D-H rule is used to establish the linkage coordinate system for the configuration of the ammunition loading robot.The forward and inverse solutions obtained by solving the kinematics equation are simulated by using the simulation software.The characteristics of different polynomial interpolation are analyzed in joint space.The shortcomings of joint space trajectory planning are made up by Cartesian space interpolation.The motor control is optimized by BP neural network.After the 7 S-type acceleration and deceleration curves are simplified,5 S-curves are obtained to reduce the impact on joint motor in start and stop stage.The design of the hardware module is completed.After the hardware part is completed,the embedded system is designed,and the systemμC/ OS-Ⅲ is transplanted to STM32.Finally,the design idea of multi task system is adopted to complete the design of file system task,zero adjustment task,bullet handling task,teaching task and monitoring task.