The Design of Control System for Multi Joint Robot based on PC+DSP

A multi joint robot control system was designed based on the universal processor PC+DSP in order to overcome the shortcomings of the control system in terms of ﬂexibility, cost performance, and software transplantation, which use Industrial Personal Computer for the upper monitor and MAC Motion control card for the lower computer. The design of multi joint robot control system is accomplished through hardware circuit design, VC++ programming and so on. Finally, six joint robot platform is used to test the control performance, The results show that the designed control system has the advantages of ﬂexible function, easy expansion and easy porting of software.

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A 5-DOF Combined Robot Platform for Automatic 3D Measurement

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.579-580.641 ◽

2013 ◽

Vol 579-580 ◽

pp. 641-644

Author(s):

Jun Qian ◽

Hua Bing Zhu ◽

Shu Wang Wang ◽

Yi Shan Zeng

Keyword(s):

Control System ◽

Motion Control ◽

Ball Screw ◽

Work Piece ◽

3D Measurement ◽

Reconstruction Process ◽

Revolute Joints ◽

Motion Control Card ◽

Small Work ◽

Robot Platform

This paper describes the reconstruction process of a 3P2R type combined robot platform on the basis of a 2-axis linearly moving worktable. An additive 3-DOF manipulator installed above the worktable has one prismatic and two revolute joints by using a novel integrated ball screw and spline axis. The control system of the platform is composed of a 4-axis motion control card and a PLC. Meanwhile, this paper deduces the kinematic equations of this special combined platform for measurement. The 3P2R type platform could be used to measure 3D contour of small work piece automatically.

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Hardware Circuit Design with the Motion Control System of the Traverse Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.347-350.176 ◽

2013 ◽

Vol 347-350 ◽

pp. 176-180

Author(s):

Jun Hui Wu ◽

Tong Di Qin ◽

Jie Chen ◽

Kai Yan Lin ◽

Hui Ping Si ◽

...

Keyword(s):

Control System ◽

Motion Control ◽

Design Process ◽

Circuit Design ◽

Location Information ◽

Motor Drive ◽

Motion Control System ◽

Feedback Module ◽

Hardware Circuit

Hardware circuit design process with the motion control system of the traverse robot was described, including the motor drive module and the feedback module with location information. A large number of experiments showed that the modules could be well applied to the platform of the traverse robot.

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Control system of 4-DOF palletizing robot based on improved R control multi-objective trajectory planning

Advances in Mechanical Engineering ◽

10.1177/16878140211002705 ◽

2021 ◽

Vol 13 (4) ◽

pp. 168781402110027

Author(s):

Jianqiang Wang ◽

Yanmin Zhang ◽

Xintong Liu

Keyword(s):

Control System ◽

Trajectory Planning ◽

Robot Control ◽

Machining Process ◽

Planning System ◽

Positioning Accuracy ◽

Multi Objective ◽

Planning Algorithm ◽

Function Testing ◽

Robot Control System

To realize efficient palletizing robot trajectory planning and ensure ultimate robot control system universality and extensibility, the B-spline trajectory planning algorithm is used to establish a palletizing robot control system and the system is tested and analyzed. Simultaneously, to improve trajectory planning speeds, R control trajectory planning is used. Through improved algorithm design, a trajectory interpolation algorithm is established. The robot control system is based on R-dominated multi-objective trajectory planning. System stack function testing and system accuracy testing are conducted in a production environment. During palletizing function testing, the system’s single-step code packet time is stable at approximately 5.8 s and the average evolutionary algebra for each layer ranges between 32.49 and 45.66, which can save trajectory planning time. During system accuracy testing, the palletizing robot system’s repeated positioning accuracy is tested. The repeated positioning accuracy error is currently 10−1 mm and is mainly caused by friction and the machining process. By studying the control system of a four-degrees-of-freedom (4-DOF) palletizing robot based on the trajectory planning algorithm, the design predictions and effects are realized, thus providing a reference for more efficient future palletizing robot design. Although the working process still has some shortcomings, the research has major practical significance.

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