Trajectory Control of 6-DOF Welding Robot Based on STM32

IF 1 Q4 ENGINEERING, MANUFACTURING Journal of Micro and Nano-Manufacturing Pub Date : 2022-06-27 DOI:10.1115/msec2022-85494

Dingzhong Li, Hong Lu, Yongquan Zhang, Zidong Wu, He Huang, Meng Liu, Shaojun Wang

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Abstract

Automatic welding technology has been widely used in China’s industrial production. Welding robots with the characteristics of high efficiency and high qualification rate began to appear in the industrial production line. However, in order to protect their own competitiveness, most companies use closed source control mode for welding robots, resulting in high control cost, low system openness and poor flexibility. Therefore, it is of great significance to design an open-source and low-cost six degree of freedom welding robot motion control system based on STM32 microcontroller. According to the requirements of motion control system, the development board of dual core processor is selected as the core to complete the hardware design of motion control system. The software design of the control system adopts the framework of cooperative work between the upper computer and the lower computer, and the upper computer is developed with software, which has good human-computer interaction function; The lower computer is programmed through the modular idea, which is convenient for secondary development and has good expansibility. According to the standard DH method, the trajectory planning of the 6-DOF robot is realized, and the S-type acceleration and deceleration algorithm and other related algorithms are used to realize its more efficient and smooth motion control.

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基于STM32的六自由度焊接机器人轨迹控制

自动焊接技术在中国的工业生产中得到了广泛的应用。具有高效率、高合格率特点的焊接机器人开始出现在工业生产线上。然而，大多数企业为了保护自身的竞争力，对焊接机器人采用闭源控制模式，导致控制成本高，系统开放性低，灵活性差。因此，设计一种开源、低成本的基于STM32单片机的六自由度焊接机器人运动控制系统具有重要意义。根据运动控制系统的要求，选择双核处理器开发板作为核心，完成运动控制系统的硬件设计。控制系统的软件设计采用上位机与下位机协同工作的框架，上位机用软件开发，具有良好的人机交互功能;下位机采用模块化思想编程，便于二次开发，具有良好的可扩展性。根据标准DH方法，实现六自由度机器人的轨迹规划，并采用s型加减速算法等相关算法，实现其更高效、流畅的运动控制。

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来源期刊

Journal of Micro and Nano-Manufacturing ENGINEERING, MANUFACTURING-

CiteScore

2.70

自引率

0.00%

发文量

期刊介绍： The Journal of Micro and Nano-Manufacturing provides a forum for the rapid dissemination of original theoretical and applied research in the areas of micro- and nano-manufacturing that are related to process innovation, accuracy, and precision, throughput enhancement, material utilization, compact equipment development, environmental and life-cycle analysis, and predictive modeling of manufacturing processes with feature sizes less than one hundred micrometers. Papers addressing special needs in emerging areas, such as biomedical devices, drug manufacturing, water and energy, are also encouraged. Areas of interest including, but not limited to: Unit micro- and nano-manufacturing processes; Hybrid manufacturing processes combining bottom-up and top-down processes; Hybrid manufacturing processes utilizing various energy sources (optical, mechanical, electrical, solar, etc.) to achieve multi-scale features and resolution; High-throughput micro- and nano-manufacturing processes; Equipment development; Predictive modeling and simulation of materials and/or systems enabling point-of-need or scaled-up micro- and nano-manufacturing; Metrology at the micro- and nano-scales over large areas; Sensors and sensor integration; Design algorithms for multi-scale manufacturing; Life cycle analysis; Logistics and material handling related to micro- and nano-manufacturing.