Research On Multi Motor Control System Of Tank Body Processing Transfer Manipulator Based On VC++and PLC

With the rapid development of the field of automation manufacturing, more and more automation products represented by industrial robots have been put into industrial production, which ensures the full automation of the production process. Tank processing involves multi drawing process, a stamping process after the end of the need to move quickly to the next station, traditional tank manufacturing factory is often rely on workers to transfer the workpiece, low production efficiency and produce high risk. If the installation of manipulator in the production line to replace the workers, to improve production efficiency and reduce the risk of security has a very important significance.In this paper, the joint type manipulator as the research object, and D-H matrix method is used to establish the coordinate system of each joint of the manipulator. The forward kinematics and inverse kinematics of the manipulator are analyzed, and the mapping relationship between the position of the manipulator and the position of each joint is obtained. According to the processing position of the tank body, the trajectory of the manipulator is carried out, and the simulation is carried out by using Matlab. The control mode of upper computer PC and lower computer PLC is put forward, and the software and hardware design of the whole control system is completed.WPLSoft is used to develop PLC ladder program, to achieve the manual control of the manipulator, automatic control, interpolation control and other functions. Visual C++6.0 is selected as the integrated development environment of PC side application software, which will be decomposed by various functions of the system in a modular way, and it is convenient for software debugging and function adjustment. The developed program has many functions, such as kinematics display, control mode selection, communication processing, parameter setting, and so on.Finally, in the experiment on the manipulator control system's hardware and software is functional tested, and the motion trajectory of the manipulator is also demonstrated. The test results show that the communication meets the system requirements, software has friendly interface, HCI convenience, the system normal operation, stable.