Development Of Open Milling Robot Control System

As a robot for the industrial field,industrial robots are often used to carry out work such as handling and painting in the field of industrial automation.In view of the advantages of strong flexibility and wide processing range,industrial robots are gradually popularized in the processing and manufacturing industry,and can be used for milling large complex surfaces.Due to the lack of development of industrial robot control system,mainly including poor real-time performance and low software reuse rate.With the continuous development of industrial robots,the development of robot control system based on ROS(ROS Robot Operating System)platform has attracted much attention.At present,ROS2 version has been greatly improved in real-time performance compared with ROS.In this thesis,an open source real-time control system is designed based on the second generation ROS2 platform of the robot operating system.The main research contents and results are as follows :(1)Through the investigation and understanding of the relevant directions,the overall framework of the control system is designed,and the overall control process is analyzed.The hardware design scheme is described in detail,the basic architecture of the software development framework ROS2 is studied,and the ROS2 function package framework of the control system is designed as a whole.Examples are used to reflect the common communication methods of ROS2.(2)The robot D-H(Denavit-Hartenberg)parameters are solved,and the robot link coordinate system is established.Complete the establishment and solution of the forward and inverse kinematics model of the robot,and use the MATLAB toolbox to complete the solution of the robot workspace.The trajectory planning of robot joint space is realized by using quintic polynomial interpolation.(3)Based on the ROS2 platform,the design and configuration of each function package are realized,the URDF(United Robotics Description Format)model of the robot supported by the development platform is established,and the visualization of the robot is realized by using the Rviz2 tool.The third-party tool library Move It2 is used to realize the robot motion planning function,and the robot motion is fed back in real time through the visual interface.(4)The robot trajectory obtained by Move It2 planning is interpolated.The experimental platform is built to realize the mapping from joint angle to motor angle,and the communication of control system is realized by Ether CAT(Ether Net Control Automation Technology)bus.By comparing the target position of the motor with the actual position data,it can be seen that the error is small,which verifies the reliability of the control system.