Research And Development Of Control System For Six-Joint Handling Robot

The innovation of modern production technology has promoted the development of industrial robots.The depth of research and the breadth of application of robot technology can manifest the national industrial innovation capability and automation level.The National Action Plan"Made in China 2025"proposes to vigorously promote the industrialization of robots and help China's manufacturing to transform and upgrade rapidly.A major application field of industrial robots is handling and palletizing.Compared with foreign countries,domestic handling robots still have a certain gap,especially in the smoothness of motion and processing efficiency.This subject takes the Yaskawa robot HP20D as the research object;an open handling robot control system is designed;a robot control software is developed;the position and orientation planning algorithms of the handling robot are studied;the robot repeatability accuracy,D-H parameter calibration and motion planning experiments have verified the reliability of the control system and the effectiveness of the algorithm.The main research contents are summarized as follows:1)According to the electrical parameters of Yaskawa robot HP20D and processing requirements,a control plan of the hardware system is developed,and key components such as GUC motion controllers and drivers are selected,and the hardware architecture of the control cabinet is designed.Aiming at the open hardware platform of"IPC+Motion controller",a set of handling robot software system based on Qt development framework is designed.Using a hierarchical and modular design mode,core program modules such as robot interpolation data buffering,processing program processing,coordinate system calibration,automatic palletizing and Open GL handling robot simulation modules have been developed.2)Aiming at the problems of unsmooth TCP(Tool Centre Point)trajectory,slow transition speed and unstable motion of industrial robots,a transition model based on non-uniform B-spline curve and its planning algorithm are proposed.Using the fifth-degree non-uniform B-spline curve,a~3 continuous spatial trajectory transition model is constructed;according to the corner velocity constraint of transition and the mutual restriction relationship of trajectory length,an adaptive speed look-ahead algorithm is proposed;the fourth-order Runge-Kuta-secant method is used to realize the interpolation of the spline curve.3)In order to solve the problems of unstable transition and discontinuous acceleration of handling process,a unit quaternion-based orientation curve construction and interpolation methods are proposed.For the robot two-point orientation transition problem,an orientation planning method based on unit quaternion linear interpolation is proposed,and an orientation following method of arc trajectory is given.For the robot multi-points orientation transition problem,the~2 continuous quaternion orientation spline curve is given.The fifth-degree polynomial is used to obtain the time parameters of the orientation curve,which realizes the interpolation of orientation curve and the synchronization of the position and orientation for multiple trajectories.4)Using the Leica laser tracker,the robot's parameter calibration and trajectory measurement experiments are carried out.Firstly,the Robo Dyn calibration software is used to calibrate the actual D-H parameters and home position error of the robot;then,the robot's repeatability accuracy is measured;finally,the handling,machine tool workpiece loading and continuous trajectory motion experiments are carried out.The Spatial Analyzer measurement software is used to analyze the robot's TCP velocity,acceleration curve and trajectory following error.The experimental results show that the system runs stably.Compared with the existing algorithms,the algorithm proposed in this paper consumes shorter motion time,the handling process of robot is more stable,and the actual motion meet the requirements of handling.