Control System Design Of Water Treatment Tank Handling Robot Based On ROS

With the advent of profound changes in the field of science and technology and the arrival of a period of industrial transformation,the development of the processing and manufacturing field is bound to develop in the direction of integration with more advanced automation technology.Under such a background,the production and manufacture of water treatment winding tanks should also conform to the development trend of the industry,gradually get rid of the predicament of the traditional manufacturing industry that relies too much on labor,and use advanced robot technology to gradually improve the automation level of the production line and realize the optimization of the production process.upgrade.This thesis takes the robot that completes the handling task of the water treatment tank core mold in the water treatment tank winding production line as the research object.Based on the opensource platform ROS,a control system is designed。With the help of the development tools provided by ROS,motion planning and the control of manipulator are realised.The main research contents of the paper are as follows:1.Analyze the overall function of the water treatment tank handling robot control system and divide the functional modules,and then build the overall framework of the control system.Then,the hardware structure and software development platform of the control system are introduced respectively,and the structure of the end-effector is designed according to the actual application requirements of the production line.2.The kinematics model of the water treatment tank handling robot is constructed by the modified D-H parameter method,and the forward and inverse kinematics problems are solved and verified.Then the polynomial interpolation method is used to fit the motion trajectory of the water treatment tank handling robot in one working cycle.Finally,the particle swarm algorithm combined with the polynomial interpolation method is introduced to optimize the motion trajectory under the time optimal condition.In the improvement of the algorithm,the adaptive learning factor and inertia weight are used to replace the original fixed parameters in the algorithm to improve the original defects of the algorithm and increase the iteration speed of the algorithm by nearly 30%.The optimized non-critical trajectory running time is reduced by nearly 43%,which greatly improves the overall work efficiency of the robot and is of great significance for optimizing the rhythm of each process of the production line.3.Based on the ROS platform,the software of the water treatment tank handling robot control system is designed.First,build a 3D model of the robot based on the URDF file and load it into the ROS environment;then use the Move It platform to design and implement motion control nodes,including: 1)Performance comparison and selection of kinematics solvers;2)Application to Cartesian space Then,the hardware interface and the underlying communication module are designed based on the underlying control framework of ros＿control,and finally the human-computer interaction interface is designed based on the graphical user interface design software Qt.4.The simulation platform Gazebo simulates the working scene of the water treatment tank handling robot and builds a simulation control system for the water treatment tank handling robot,which verifies the rationality of the robot’s motion trajectory and the normal communication between the functional nodes of the control system.