The control system of palletizing robot mainly includes software control system and hardware control system. In the design of modern palletizing robot system, the hardware control system mostly adopts the form of modularization, and the overall structure adopts the distributed control structure.
The upper computer uses ordinary industrial control computer, which mainly deals with the monitoring and operation management of the system, such as teaching box control, display service, coordinate transformation, automatic acceleration and deceleration calculation, etc. According to the requirement of the user's command and action program statements for trajectory planning, interpolation algorithm and coordinate transformation, the position of the motor is calculated for each axis, and receive according to the next level of feedback signal and sensor signal, the judgment task implementation and environmental condition, and then downward level of each joint position servo system transmits a and set point values of the corresponding position update, To realize the coordination and control of the motion of each joint.
Under a machine adopts DSP controller and PLC programmable logic controller, DSP controller is adopted by the PMAC104 movement control CARDS, mainly is to perform real time kinematics calculation, trajectory planning, interpolation calculation, servo control, etc., constantly read each shaft encoder pulse quantity, calculating the robot's current position, and the software method is compared with a given location, The deviation is adjusted by PID, and PLC mainly deals with the control of the peripheral equipment of the robot, such as the robot hand claw pneumatic sucker, the monitoring of various surrounding conveyors, etc.