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摘要随着工业的发展，手工劳动力已经无法满足工业生产的需求。在此工业机器人的诞生就能替代越来越昂贵的劳动力，同时能提升工作效率和产品品质。工业机器人的应用包括焊接、刷漆、组装、采集和放置、产品检测和测试等；所有的工作的完成都具有高效性、持久性、速度和准确性。由于焊接的辐射大、烟尘多、危险性高以及传统人工焊接的劳动量大、精度差、效率低，所以焊接机器人应运而生，并在工业机器人中更加广泛使用。焊接机器人的诞生对制造工业的发展产生了巨大的的推动作用。37012
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本课题以DSP为核心，提出了一种新的焊接机器人伺服控制系统设计。并采用模糊PID算法控制，结合MATLAB进行了控制系统的仿真实验，达到理想的控制效果。本文主要研究内容如下：
1、 焊接机器人伺服控制系统的研究。
2、 基于PID的伺服控制系统研究。
3、 焊接机器人伺服控制系统软件设计。研究伺服控制系统软件的设计方法,包括控制系统中主程序的设计、捕捉中断服务程序的设计,Tl周期中断服务程序的设计、CAN接收中断服务程序的设计和CAN总线传输错误中断服务程序的设计等。此外,本课题给出了上位机和下位机的通信接口协议,主要是为方便上位机的开发而设置的。
4、 焊接机器人系统安装调试及实验分析。在硬件设计和软件设计的基础上,结合KUKA焊接机器人的机械臂,实现焊接机器人系统的安装与调试。研究焊接机器人示教过程,结合本课题所设计的焊接机器人控制系统,使用KUKA焊接机器人机械臂做焊接实验。
毕业论文关键词：焊接机器人，伺服控制，DSP，模糊PID 控制
ABSTRACT
With the development of industry, manual labor cannot meet the needs of industrial production. In the birth of the industrial robot can replace the more expensive labor, while improving the work efficiency and product quality. The application of industrial robot includes welding, paint, assembly, collection and placement, product testing and testing, etc. All work is highly efficient, durability, speed and accuracy. Due to the welding of radiation, dust, high risk and the traditional manual welding of large amount of labor, poor accuracy, low efficiency. So the welding robot came into being and in industrial robots more widely used. The birth of the welding robot has a huge role in promoting the development of manufacturing industry.
In this thesis, a new welding robot servo control system is proposed based on DSP. The fuzzy PID algorithm is used to control the simulation experiments of the control system with MATLAB, and the ideal control effect is achieved. The main research contents of this paper are as follows:
1. Research on servo control system for welding robot.
2. Research on servo control system based on PID.
3. Welding robot servo control system software design. Study of servo control system software design method, including the control system main program design, capture interrupt service program design and TL cycle interrupt service program design, can receive interrupt service program design and can bus transmission error interrupt service program design. In addition, the communication interface protocol of the upper computer and the lower computer is given, which is mainly for the development of the upper computer.
4. Welding robot system installation and experiment analysis. On the basis of hardware design and software design, the robot arm of KUKA welding robot is realized and the installation and debugging of welding robot system is realized. The welding robot teaching process is studied, and the welding robot manipulator is welded with the robot arm of KUKA welding robot.
Key Words: welding robot, servo control, DSP, fuzzy PID control
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