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Trajectory Planning and Control for Valve Electric Upsetting Forming Process Robot

Author: ZhuHuoMei
Tutor: LiWeiGuang
School: South China University of Technology
Course: Mechanical Manufacturing and Automation
Keywords: Industrial robots Electric upsetting robot Trajectory planning Motion Simulation Trajectory control
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 69
Quote: 0
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Abstract


Valve upsetting the molding processes robots ( hereinafter referred to as the the electric upsetting robot ) is applied to the valve to a class of industrial robots in the production process , for valve production line valve upsetting stamping molding process automation , improve product quality and production efficiency , reduce workers labor intensity . For industrial robots , the most important thing is to complete the implementation of the agency 's real-time control , trajectory control , state feedback work . This paper the electric upsetting robot , on the basis of in-depth understanding of the basic structure , the knowledge of the comprehensive application of the coordinate transformation , kinematics , trajectory planning , trajectory of the robot end planning and simulation . Trajectory control in the electric upsetting robot motion control system . Firstly, the establishment of each link of the robot coordinate system , established on the basis of the transformation matrix and the kinematic equations between each link , and make a the robot kinematics positive inverse problem solving . Using MATLAB software to calculate the the electric upsetting robot work space , respectively, in the joint space and Cartesian space planning the electric upsetting robot end effector trajectory . Kinematic simulation and analysis after the establishment of three-dimensional design software Solidworks the electric upsetting robot model into ADAMS software . In this paper, the architecture of the PC motion controller PLC , motion control platform combined with VC software structures to achieve control of the the electric upsetting robot trajectory . In this paper, using the PC as the host computer of the motion controller , the trajectory of the motion controller control ability and information processing capability of the PC organically combine to achieve the electric upsetting robot end effector trajectory planning and control . Information processing ability , accurate trajectory control and versatility .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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