Design Of Robot Arm Control System Based On CODESYS And EtherCAT Bus

With the upgrade of intelligent manufacturing,industrial robots are widely worked in various fields and have gradually become an important part of the high-end manufacturing equipment.Based on the PLCopen motion control standard and the CODESYS environment,this paper designs a set of SCARA manipulator control system by using the Ether CAT high-speed bus technology.Taking the robotic arm control system as the research object,this paper first designs the overall control system,and build the hardware platform and software architecture.Then,on the basis of establishing the coordinate system of the SCARA manipulator,the manipulator model and the kinematics forward and inverse solution equations are established according to the DH method,and the results are simulated using the MATLAB.The dynamics of the manipulator is modeled by Lagrange method and verified by ADAMS,and the manipulator workspace is analyzed by using the Monte Carlo method.Based on velocity planning,trajectory planning of manipulator is studied by using linear interpolation,circular interpolation algorithm derivation and simulation.Meanwhile,combined with the characteristics of polynomial algorithms,the 3-5-3 mixed polynomial algorithm is derived and the simulation experiment is given.The key technologies of communication are summarized by analyzing the high-speed Ether CAT bus master and slave technologies.Through the communication experiment of the system,the process data in the communication is analyzed.Finally,the control system program and human-machine interface are designed.The testing results of point control,continuous trajectory motion and programming command control show that the system can satisfy the expected design objectives.