Research And Design For Multi-axis Cartesian Coordinate Manipulator Control System

Multi-axis Cartesian coordinate manipulator is widely used in handling,assembly,welding,coating and other industrial fields,has a broad development prospects.The control of the Cartesian coordinate manipulator involves many aspects of the content,and need to ensure the stability of the control system and control accuracy.In this paper,the control system of Cartesian Coordinate Manipulator are studied,including the overall architecture design of the control system,the robot trajectory planning research,the manipulator speed planning,the acceleration,the deceleration control,and the hardware design of the system.This paper consists of three parts.The first part analyzes the control structure of the common motion control system,and designs the four-axis rectangular coordinate manipulator control system architecture of "touch screen + multi-axis motion controller + servo drive system".The second part focuses on the trajectory planning problem of Cartesian Coordinate Manipulator.The Bezier curve fitting algorithm,its advantages and disadvantages are analyzed.On the basis of it,the B-spline curve fitting algorithm of inverse control is given.The simulation results show that the algorithm can overcome the shortcomings of the Bezier curve algorithm.In addition,the interpolation control algorithm of Cartesian manipulator in three-dimensional space is studied,including spatial linear interpolation and space vector interpolation.The simulation proves the effectiveness of the algorithm and provides the theoretical basis for the actual control of the manipulator.In the third part,the advantages and disadvantages of the common acceleration and deceleration algorithm model are analyzed in detail.Based on the trapezoidal acceleration and deceleration model and the prospective control theory,the path planning method of the small line segment of the manipulator is proposed,and the algorithm is used to verify the operation of the manipulator platform.effectiveness.In addition,a pre-acceleration and deceleration strategy is proposed based on the S-type acceleration/deceleration model to ensure that the start and end speed of the machining robot is maintained at a given process speed.The velocity planning strategy of multi-stage continuous processing path is given.The simulation results show that the control strategy can ensure that the speed of the path connection is kept at the speed of process processing.The control method is simple and efficient and has high practical value.At the end of this paper,the design of the hardware and software of right angle coordinate manipulator is explained.The paper describes the drive signal wiring,I/O wiring,and servo drive settings.The program of multi-axis motion controller including main program,homing program and teaching program is given,and the manipulator touch screen control interface is designed.