Research On Automatic Control System Of Tiling Robot

In the construction industry,tiling work is heavy workload、high technical requirements and highly repetitive.It usually is completed by experienced workers,but needs a long time.Sometime the uneven quality of workers’ work will affect the appearance of tiling,by the way the labor cost of company is so high.Therefore,the tiled robot studied in this paper is characterized by the development of specific tasks for reducing the repetitive work and improving work efficiency.Robot control system completed the motion or works based on the commands and the sensor data.It is the core of the robot,decides the performance of the robot abilities,reasonable plan of executing the robot’s motions also is the basement of improving the work efficiency.Therefore,the research of Tiling robot control system is of great significance.In this paper,the six-axis industrial manipulator is the research object.The main researches include the research of control system design、motion control module design、trajectory tracking control、image selection and processing.The specific research works are as follows:(1)First of all,I design a collaborative control structure that the ARM is the host computer and the DSP is the lower processor.The collaborative control structure will make full use of ARM’s excellent management,decision-making capabilities and nice external expansion.DSP has a excellent processing capability that is designed for the controller in the unit control module.According to the requirements of tasks,we selected specific order of ARM,DSP and each sensors.(2)Then,I design the functional control module and drawing out the circuit diagram which belongs to the embedded motion control module.Combined with the principle of position servo controller,the position servo three-ring control system of the robot is designed,and the improved PID is selected as the control system.(3)Secondly,after analyzing the current robot movement,a tile robot vision system is designed.The feature points are captured by using Matlab.The CCD camera rotates with the end effector.The captured image is processed by DSP.(4)After finishing the kinematics analysis,the trajectory tracking control of each joint is carried out.The trajectory path is build by B-spline curve,and the time planning is optimized by the improved genetic algorithm.The trajectory tracking simulation was displayed by Matlab.(5)In the utilizing ADAMS and Simulink co-simulation,the robot designed model by using solidworks is imported into ADAMS,and the ADAMS/control interface ADAMS is connected with Simulink by using the ADAMS/control interface.Simulating the dynamics of the manipulator and analyze the joint tracking error by using PID control in the ADAMS and Simulink.Finally,I summarize the achievements of my research in this paper,and give a forward research on this subject.