Research On Control System Of 6-DOF Industrial Robot Based On TwinCAT3

Today,with the rapid development of scientific and technological information,it is more and more common for robots to replace humans in industrial production.Moreover,people's demand for industrial robots is becoming more and more prominent.This demand is mainly reflected in two aspects: one is in the structural design of the robot,the duty cycle of the robot body is required to be as small as possible,and it can be integrated into any working environment for use;the other is in the design of the control system of the robot.The control system development cycle of the robot is required to be as short as possible,and the secondary development can be carried out.For a robot with specific functions,the structure design of the machine is the foundation,and the design of the control system is the core,both are indispensable.Therefore,in this paper,based on the already designed three-dimensional model of the robot,the robot control system is developed and designed on the TwinCAT3 platform.First of all,this article analyzes and summarizes the development history and status quo of robots at home and abroad.After comprehensively considering the versatility,scalability and development cycle of robot control system design,a robot control system design based on industrial PC is proposed.Program.Combining the design requirements of the robot in this paper,the industrial PC controller produced by Beckhoff is selected as the hardware platform,and the PC with TwinCAT3 software is used as the control terminal to develop and design the control system of the six-degree-of-freedom robot.Secondly,on the basis of the robot's three-dimensional model,establish its linkage coordinate system for kinematic analysis,which mainly includes: the determination of D-H parameters,the establishment of the robot's mathematical model,and the analysis of forward and inverse kinematics.And using MATLAB software to verify the correctness of the forward and inverse kinematics equations,which laid the foundation for the subsequent research and development of the robot control system.Then,through the analysis of the dynamic characteristics of the robot and the relationship between the external forces in the operating space,the corresponding impedance controller is designed,and the performance of the control parameters in the impedance controller is analyzed and determined Through the simulation test platform built in Matlab,the compliance response ability and trajectory tracking control performance of the impedance controller are verified,which provides convenience for the research and development of robot impedance control in TwinCAT3 platform.Finally,the development of the functional modules of the robot's control system was carried out on the TwinCAT3 platform,including the development of the manipulator model,the design of the motion control module,the programming of the trajectory planning module,and the impedance control call.And through the designed virtual simulation interface,the simulation verification of the single-axis jog and multi-axis linkage control of the manipulator was carried out.The Scope View graphical output analysis tool was used to monitor the robot movement in real time,and the robot control we designed was obtained.The system not only has the compliant motion performance of adjusting the force and position of the end of the mechanical arm,but also has a certain trajectory tracking control performance,which has good reliability and capacity of resisting disturbance.