Design Of Industrial Robot Control System Based On PLCopen

Due to the market demand and the rapid development of automation,the use and progress of industrial robots in the control industry has become an inevitable trend.But compared with the development of foreign countries,there is a great gap in this aspect in China.The main reason is that foreign countries monopolize their complete control industrial chain.And the industrial robot control systems developed by enterprises and institutions adopt special controllers,which makes the system lack of versatility and flexibility.These two main factors directly lead to the difficulty in the improvement of industrial robots in China.Therefore,the design of a reconfigurable and open control system has great scientific research significance and broad market value.In this context,this paper will use PLCopen standard to analyze and design the control system of six DOF industrial robot,which provides part of the foundation for the future research and exploration.The main research contents are as follows:The structure parameters of the six DOF robot are uploaded to Matlab simulation platform and modeled by D-H method.Then the forward and inverse kinematics matrix and pose expression are derived.The joint angle of the six axis of the robot is solved by numerical method.Finally,the correctness of the calculation results is verified.The traditional polynomial interpolation algorithm is analyzed and calculated firstly,and a piecewise fitting trajectory optimization algorithm is proposed.After simulation and error analysis,the results show that the above algorithms basically reach the design goal.Based on the market situation,the design scheme of robot control system is analyzed and summarized.In this paper,the existing six degree of freedom industrial robot in the laboratory is used as the main body of the experiment,based on the visual studio programming environment embedded in Twin CAT(the windows control and automation technology),the solution based on PLC control is adopted,and the CDHD servo driver products of German Beckhoff cx2020 series controller and transmission technology company are used.The robot system is designed and implemented.The hardware pc,controller and servo driver are controlled by one master and multiple slaves,and their electrical wiring diagram is designed for subsequent maintenance and overhaul.As for the software,in order to play the encapsulation,reconfigurability and universality of the motion control program,the modular design idea and st(structured text)text programming language are mainly adopted when writing the robot function program.The program design includes forward and inverse kinematics,single axis motion,linear motion,circular motion,communication module and so on.In order to ensure the timely and accurate communication between the upper and lower computers,the industrial Ethernet Ether CAT communication protocol is adopted.Finally,the communication between the upper and lower computers is successfully realized through the actual adjustment and operation.At last,the paper carries on the function practice to the control system.The main contents of the verification are the robot forward motion test,the return zero motion test,the point motion test,the linear motion test and the circular arc motion test.The test results basically achieve the expected goal,the overall design of the robot control system function is more perfect.