Design Of Motion Control System Of Palletizing Robot

With the development of science and technology, robot is gradually stepping into many filed of the society, such as our daily life, education, industry, national defense and safety and so on. Recently, because of the increasing costs of human labor, the palletizing robot has played an important role in industrial fields to improve the economic benefits and reduce the amount of labor. Compared to other robot, palletizing robot's structure is much more simple and flexible, and it has a stronger robustness. These make the palletizing robot can be controlled much easier. With these features, the palletizing robot can do a lot of work in the industrial field, such as spraying equipment, cutting, welding and handling on the production line.The research direction of this issue is to design a motion control system of palletizing robot. The design of this part is a significant composition of palletizing robot, and it has a top priority for this research. The motion control system of palletizing robot can directly decide the palletizing robot's normal operation, and decide whether the robot can meet the requirement of each performance index. Meanwhile, the palletizing robot has been widely applied for goods palletizing in the workshop, and the effect of the goods palletizing is also very meaningful. So, the research of this issue is of great significance.In this issue, I take the robot body of LP130-01 as the research object. This robot is produced by NACHi, and it is a serial palletizing robot with 4 degrees of freedom. The main work of what I will do is to research the motion control system of this robot, and design a joint controller to achieve the function of single-step control and continuous control. Then simulate the control system of what I had designed by v9.8 in MATLAB to confirm the feasibility of my design.This issue mainly consists of four aspects as following:(1) Before the research for motion control system, the most basic thing is to have a clear understanding of the robot body. So, this article analyzes and studies the structure and technical parameters of the robot body at first to make a solid foundation for the following research.(2) Calculating the motor capacity and getting the load of robot to ensure the viability of the robot's loading.(3) Building the kinematics model based on LP130-01 robot, calculate normal and inverse solution of kinematics, and then simulate the motion space by the Robotic Toolbox v9.8 in MATLAB to verify the correctness of kinematics equations.(4)Designing a joint controller to control the angle of the joint during its motion, and then plan the trajectory to achieve single-step control and continuous control between point and point. What's more, using path interpolation method to optimize the track and avoid sharp fold line in order to forming a smooth motion curve and optimizing the performance of the system by MATLAB to test and verify the correctness of kinematics equations again and the feasibility of trajectory planning.