Handling Robot Motion Control

With the development of modern industry, the application of the manipulatorhas been more and more widely. Because of the progress of the times and thedevelopment of the technology,the manipulator not only help people engaged inspot welding, arc welding, painting, handling, assembly operations, but also inthe electronics industry, nuclear industry, deep sea, outer space robot has alsoplayed a huge and irreplaceable role. So,how to make the manipulator runsaccurately,efficiently,environmentally,has become the focus of the researchers.Since the manipulator can engage some work that human can not,and replaceworkers in repetitive work,in that case,manipulator are significant to life safetyand modernization of production.This paper was based on the robot experiment plateform of PLC and motorcontrol technology,by ameliorate the control method which was used in themanipulator system to improve its function,and make it runs more accuratelyand reasonablely. The main function of the manipulator is to move workpiece,the two servo motors were used in the manipulator control system to controlhorizontal and vertical movement. The pneumatic energy was used to completethe workpiece in production to crawl,place,lined up and other actions in thissystem,it also realize the feature of energy saving. Meanwhile the HMI wasused in this system to monitor every state of the manipulator to ensure thesystem normal operation. The manipulator control system is a mechatronicproduct, the automatic operation of the process is done according to apredetermined logical order. When the modified acceleration and decelerationalgorithm,the system has the feature of precise positioning, smooth operation,and a small failure rate. Modified method has marked improvement in workefficiency and reducing the repeatability of the workers' work,and the systemhas excellent control function and good cost performance in field control,especially in PLC control.Modified manipulator system resolved the problem of position and overshoot in the running progress in original system successfully. SiemensTD400C was designed as HMI to realize digital monitor in the system,andfurther improve system operability and safety factor.