码垛机器人控制系统研究

Research on Control System of Palletizing Robot

主要以直角坐标码垛机器人为研究对象,以机器人运动轨迹规划作为主要研究目标,实现码垛机器人的控制系统软硬件研究与设计。首先对码垛机器人进行建模和运动分析,根据机器人的运动控制要求,对硬件系统进行设计;其次基于蚁群算法和遗传算法对机器人的运动轨迹规划研究,得到直角坐标机器人码垛工作的最优路径规划,选用西门子S7-1200PLC为主控制器,完成了控制系统的硬件配置、程序设计及运行仿真;最后基于以太网调试分析,多次实验完成对所设计的控制系统的验证。

In this paper,the Cartesian coordinate palletizing robot is taken as the research object,and the trajectory planning of the robot is taken as the main research goal.The software and hardware of the control system of the palletizing robot are researched and designed.Firstly,the palletizing robot is modeled and analyzed.According to the motion control requirements of the robot,the hardware system is designed.Secondly,based on ant colony algorithm and genetic algorithm,the optimal path planning of Cartesian coordinate robot palletizing work is obtained.Siemens S7-1200 PLC is selected as the main controller to complete the hardware configuration and program design of the control system,as well as the operation simulation.Finally,based on the analysis of Ethernet debugging,many experiments are completed to verify the control system designed in this paper.