Design And Implementation Of The Painting Robot Control System

The design on control system of painting robot is presented. The hardware and softwarestructure of the control system were introduced. The control system is used to the PC104andmotion control card. It can teach moving trace, edit trace data and automatic spray. Thecontrol system scheme has some advantages such as simple structure, easy maintenance,short developing period, high reliability and so on. In order to design the control system on afive degrees of freedom of spraying robot, the following several aspects are studied in thisthesis:(1) This thesis introduces the research status and development trend of industrial robotcontrol system. Then this thesis introduces the characteristics and composition of sprayingrobot control system, the key technology and the design process of spraying robot controlsystem.(2) According to the functional requirements，the design of spraying robot controlsystem is presented. This thesis presents the calculation of the maximum load torque of eachjoint of painting robot, and thus obtained the required parameters of selected motor. Then thedetail selection process of drive mechanism and the sensor are determined.(3) This thesis introduces the functions and usage of motion control card. According tothe motion control function library, combined with the kinematics function, the low-leveldriver functions for intelligence spray system of spraying robot are developed.(4) The problems that should pay attention to in the process of installation anddebugging of painting robot control system are described in detail. This thesis presents amotion performance test method by increasing the test code. Finally, paint robot controlsystem are summarized and discussed from the system stability, reliability, ease of operationand other aspects.