| With the advent of the era of "industry 4.0" and "intelligent manufacturing",programmable control system(PLC)is in a leading position in the field of industrial control.The design of motion control software based on IEC 61131 and PLCopen has also become the main development means of industrial robots.Motion control of heavy duty parts is one of the important applications of industrial robot automation production line.Generally,each robot manufacturer has developed their own forward kinematics and inverse kinematics algorithms.Although the algorithms are simple,it is difficult to have universality and portability.At the same time,some general upper computer programming software is not open to some basic computing function library,which is not conducive to the effective protection of independent intellectual property rights in China.Focusing on the above key technical problems,in the Codesys integrated development environment,this paper adopts the idea of structured programming,takes the module function and processing process design as the main principle,and develops the PLCopen function block based on the motion planning of six-joint industrial robot.This paper mainly studies the following aspects:(1)The design scheme of six-joint industrial robot control system is proposed.Codesys is used as software development platform,ATOM main station is used as hardware,and servo driven motion control slave station is used.Modbus TCP/IP communication protocol is used between the host computer and the master station.The distributed architecture of NCUC real-time Ethernet connection between master station and slave station and between slave station and slave station;The slave application layer adopts CANopen standard device subprotocol.(2)Taking SA1400 six-axis industrial robot as the research object,the kinematics model is established and analyzed.According to the mechanical structure of six-axis industrial robot SA1400,the linkage coordinate system model and the forward and inverse kinematics equations of the robot are established,and the transformation relationship between the robot’s end pose and joint Angle is analyzed.(3)The motion control function block of six-joint industrial robot is designed and developed.A method based on Matlab/Simulink to quickly generate function blocks is applied.This method can not only make use of the efficient numerical calculation in Simulink,but also can be downloaded to Codesys to generate common functional blocks.The design and development of function blocks such as enable,matrix operation,uniaxial motion control and polygon motion track are completed and verified.(4)In order to verify the research results of this paper,the robot function block experiment platform was built based on the domestic independently controllable hardware modules and software platforms.The forward and inverse kinematics algorithm of SA1400 robot function block was verified effectively on the Codesys platform.The test results show that,The designed functional block can meet the requirements of forward and inverse solutions of heavy duty parts. |
