基于pmac运动控制器的弧焊机器人控制系统研究机械电子工程专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 II Abstract Industrial robots are widely used in manufacturing field, greatly reducing the labor intensity and the danger in working. The need for industrial robots in modern manufacturing increases with a great speed, and the future of robot market is quite bright. The most important part in developing industrial robot is designing a control system with comprehensive functions, open architecture and high reliability. Based on the analysis on the control systems of industrial robot both home and abroad, this paper developed its own control system for arc-welding robot. At first, the kinematics model for the 6 degrees of freedom arc-welding robot was established, which included establishing the forward kinematics model with homogeneous transfer matrix and the inverse kinematics model with geometric method. After that, the hardware system was built up. The core controller is PMAC (programmable multiple-axis controller), which is capable of making multiple axes synchronous, matching various servo-systems and provides users with the freedom to write their own kinematics algorithm. The upper computer employed IPC to make a compact system. Servo-system chose Mitsubishi J3 servo-systems to execute motions. Thirdly, PMAC control software was designed to fulfill the control requirements. The control software contains three main parts—motion program, kinematics program and PLC program. Motion programs describe the characteristics of movements. Kinematics program is used as a firmware of PMAC. PLC programs are in charge of system initialization, system state monitoring and the organization of programs. Finally, experiments were carried out and the control system of robot was tested. After the communication setup between PMAC and IPC and PID tuning for servo-systems, the experiments in teaching mode and play-back mode were finished with and without the human-machine interface software. The results turned out to have achieved the control requirements of the arc-w