Exploit Of Multi Axis Motion Control System For Industrial Robot Based On PLCopen

The key of intelligent manufacturing lies in the motion control system.At present,the motion control system is developing towards standardization,modularization,reconfiguration and integration.Aiming at the problems of different programming languages,different programming platforms,heavy dependence on hardware platform and poor versatility of current motion controller,this paper develops an open industrial robot motion control system based on axis group function block based on PLCopen specification.The main work of this paper is summarized as followsFirstly,based on the analysis of the operation mechanism of single axis state machine and axis group state machine,the overall design of multi axis SCARA motion control system based on PLCopen is proposed.Aiming at the content of coordinate transformation in the axis group,the kinematics of the robot platform is analyzed and verified based on plcopenpart4,and the mapping between ACS and MCS is established.Secondly,a variety of planning methods are designed for trajectory planning in Cartesian coordinates,including a general S-shape velocity curve planning and trajectory planning based on exponential function velocity curve joint space.At the same time,for the accuracy and real-time of motion control,the linear interpolation algorithm and circular interpolation algorithm based on S-shaped velocity curve are designed and verified by simulation.It lays a theoretical foundation for the later function block internal algorithm.Then,based on PLCopen standard,several motion control and functional blocks are designed.In order to ensure the efficient operation of the function block of the axis group,the structure of the axis group and the function block is established.Then,the SCARA robot's enable,reset,linear motion,circular motion and other function blocks based on axis group function block are designed.In view of the need of blending in the process of transportation,a trajectory planning method based on continuous multi segment curve is designed,and the expression of the connecting contour of the blending of two trajectories is calculated,and the function of buffermode is realized.Based on the above results,the multi axis motion control system of industrial robot based on PLCopen is designed,and then the experimental verification is carried out on the experimental platform built by PC + Twin CAT + Ether CAT Industrial Ethernet.The experimental results prove the effectiveness of the designed function block.