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Development on Control System of Four-dof Decouple Transport Robot

Author: CaoBo
Tutor: CaoQiXin
School: Shanghai Jiaotong University
Course: Mechanical Engineering
Keywords: Decouple Transport robot Control system Motion planning
CLC: TP242
Type: Master's thesis
Year: 2012
Downloads: 238
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Abstract


As a common industrial robot, the transport robot is used to replace the human to automatic palletizing in the field of logistics automation. With the expansion of production scale and the exaltation of the level of automation, the flexible, the processing capacity and reliability of the transport robot are improved. So the performance of the robot is getting more and more powerful and its development costs are getting lower and lower. The robot is applied in more occasions. As the robot’s brain, the control system of robot, including hardware and software systems, is the main factor determining the performance of the robot. Since the birth of robotics, the development of control system is basically independent. The operating system, the robot language and processor which are used in control system are special. So the development costs are relatively high and the development cycle is relatively long. With the rapid development of robotics, the robot becomes more intelligent and more open. Higher performance control system is needed, which has better maneuverability, compatibility and openness and controls a range of robots working together. In recent years, the European and American countries are developing the robot control system which has an open architecture. The control system based on modular is a standard bus structure and communicates with the others by using network.This paper develops the transport robot control system based on modular design on the WinCE platform. The whole control system is divided into six sub-systems in accordance with its functions. As a module, each sub-system is relatively independent. Each module has good interchangeability so that the system has better scalability. A friendly interactive interface allows users to make better use of the control system. When the robot is working, the control system can real time monitor the operational status of the robot, which make the robot running more secure and reliable. When the robot is working, it frequently quick starts and stops, so the impact and abrasion on the mechanical is very serious. Aiming at this fact, the S-shaped velocity curve is used to plan the joint trajectory and cubic spline curve is used to fit the velocity curve. The joint velocity and acceleration are continuous by use the trajectory planning, so the palletizing process of robot is fast and smooth. For the specific movement and mechanical of the transport robot, the whole palletizing process is re-planned on the basis of the planning of the traditional PTP motion mode. Because the new motion planning method reduces the number of acceleration and deceleration, the planning time of palletizing process cuts back. Finally experimental verification, the repeat accuracy and absolute accuracy of the end of robot gripper can meet the design requirements during operation. The palletizing process is optimized by using a new method which is proposed in the paper. The palletizing speed is greatly improved.

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