Development And Design Of The Control System For The Slave Computer Of The Six-axis Robot

Research on the related technologies of collaborative robots is one of the hotspots in the global industrial robot industry.Robot control systems play a key role in the performance of collaborative robots.In view of the problems of high cost,limited application function,and closed underlying control algorithm in the mature robot control system on the market,this topic developeded and designed a cooperative six-axis robot control system based on CAN bus,and puts forward the algorithm to solve the problems of kinematics,collision detection and trajectory planning in the process of robot motion,which realizes the basic motion function of the six axis robot.The main contents of this topic are as follows:(1)Researched how to establish CAN communication between STM32F4-07ZGT6 control chip and Kollmorgen joint module.This topic configured the CANopen network composed of STM32F407ZGT6 control chip and six joint modules,realized the control of the joint module by the control chip under the framework of CANopen protocol,and on the basis of realizing the CSP mode of a single joint module,the six axis linkage control is completed.(2)Based on the theory of robot kinematics,this topic analyzes the relationship between the joint variables and the position and attitude of the end effector of the cooperative six axis robot,that is,robot kinematics.The kinematics model(D-H model)of the cooperative six axis robot was established,and the solution methods of forward kinematics and inverse kinematics were given.The “weighted shortest stroke criterion” is used to filter the multiple sets of inverse solutions to obtain the optimal inverse solution.(3)The collision detection model of the cooperative six axis robot is established.After the trajectory planning is completed,it is determined whether each interpolation point in the trajectory will collide.If there is no collision,the six-axis robot can work normally according to the planned trajectory.(4)This topic presents a synchronous acceleration and deceleration algorithm facing for Cartesian space position and attitude of six axis robot,which realized the synchronous planning of the position trajectory and attitude trajectory of the end effector of six axis robot.On the basis of the algorithm,the interpolation of space linear trajectory and space arc trajectory was realized.(5)Simulation experiments of collaborative robot collision detection algorithm,typical multi-path connection model trajectory planning,space linear trajectory interpolation method and space arc trajectory interpolation method were carried out;the experiment of "robot press key" was conducted on the built test platform.The experimental results show that the six axis robot completes the operation of pressing the key,which verifies the engineering practicability of the above method.