全文总字数：8146字
1. 毕业设计（论文）的内容和要求
The six-degree-of-freedom articulated robot has high flexibility and a wide working space. It can flexibly bypass obstacles, and has a compact structure and a small footprint. The relative moving parts on the joints are easy to seal and dustproof. Processes such as loading and unloading, picking, arc welding and painting of machine tools. With the wide application of robots, it is particularly important to study the basic theory, specific structure and technical methods of robot design. The development of power electronics, micro-processing technology, control technology and motor manufacturing technology has brought the performance of motion control systems to a whole new level. In the field of transmission, it is often necessary to achieve high-precision position control of the controlled object. A basic condition for precise position control is the need for a high-precision actuator. Therefore, this topic selects the servo motor as the controlled object and obtains the highest level of dynamic response.This design requires the world's advanced ABB six-joint industrial robot as the platform to design the control system to operate the ABB robot's six actions, five half-degree-of-freedom trajectory control, which can imitate some functions of the human upper limb, six The action can be controlled by single axis or six axes simultaneously; the drive mechanism adopts electric form, and the AC servo motor control scheme is provided according to different requirements. The servo motor control mode is manual and automatic; the control system requires ABB's own robot controller. Take control.The task of this project is to combine hardware and software to achieve the control of the ABB six-joint manipulator. The basic configuration is as follows: The upper computer uses the ABB robot motion controller. Software part: Using ABB robot controller programming software, it has strong monitoring ability, can realize ladder diagram monitoring, list relay monitoring, dynamic timing diagram monitoring and other commands. The robot is mainly composed of three parts: the actuator, the drive mechanism and the control system. As shown in the figure below:ABB six-joint robot control system hardware structureThe key technologies are as follows:(1) Understanding the learning of ABB robot electrical control unit and drive unit design (2) Understanding the learning of ABB robot sensing and error correction system(3) Understanding ABB robot servo control technology and position closed-loop control technology to optimize system dynamic performance(4) Using ABB robot controller for software programming and related motion control parameter adjustment to improve the positioning accuracy and smoothness of the system(5) Position/force hybrid control method using ABB robot controllerMain content1. Understand the motion characteristics and composition of the robot; model the kinematics of the ABB six-joint industrial robot;2. Determine the control system architecture of the robot with the master-slave mode of the PC motion controller; 3. Design hardware and software for the control system; understand the composition and control methods of the robot's control system;4. Finally, the control system is debugged and tested to realize the trajectory control of the industrial robot.5. Compile the robot's action program and master the main working principle and operation method of the robot;6. Analyze the position/force mixing control method of the robot (increase the force sensor)Main requirement1. Read more than 20 relevant documents in Chinese and foreign languages;2. Translating a foreign language document, translation of 3000 Chinese characters or more；3. Complete the opening report of this topic, no less than 3,000 Chinese characters;4, according to the school 2019 "comprehensive papers" writing norms, complete the graduation design papers of this topic, requiring more than 12,000 words.
2. 实验内容和要求
Experimental contentOn the experimental platform of the ABB six-joint industrial robot control system built in the laboratory, a comprehensive experiment and test were carried out for the trajectory control.Experimental requirementsRecording the experimental results and analyzing and comparing them requires that the designed control scheme achieve the desired results.1．Motor drive and motion control system experimental production and debugging to normal operation;2．The ABB robot controller is used to set the six-joint servo system driver;3．Design to achieve I / O control, if you can use the external PLC to achieve effective control of the robot is better.
3. 参考文献
[1] Wu Ting. Design and implementation of vertical six-joint industrial robot control system [D]. Fuzhou University, 2013.
[2] Wang Ning, Zhang Xinmin. Trajectory Planning and Simulation of Six Degrees of Freedom Robot Based on MATLAB[J]. Manufacturing Automation. 2014(15)
[3] Wang Caidong, Wu Jianrong, Wang Xinjie, Chen Lumin. Configuration Design and Performance Analysis of Six Degrees of Freedom Tandem Robot[J]. Mechanical Design 2565, May 2001.
4. 毕业设计（论文）计划
Starting date Design (paper) work content at each stage Remarks1-1 ～ 3-7 Layout design tasks, learning basics 3-8 ～ 3-18 Read the references, translate the literature, and prepare the opening report. 3-19 ～ 3-31 Complete the opening report and literature review. 4-1 ～ 4-20 Familiar with ABB robot software programming environment, learn robot dynamics model, design hardware wiring diagram. 4-21 ～ 5-10 Completion of ABB six-joint robot system control program writing, robot trajectory control, and hardware debugging. 5-11 ～ 5-21 Write the first draft of the graduation thesis, debug the robot control system at the same time, and improve the control system function 5-22 ～ 6-5 Write the final draft of the thesis, robot control system debugging, demonstration Before 6-15 Submit all graduation design official materials electronic and printed 6-15 ～ 6-18 Prepare to reply 6-18 ～ 6-22 Reply
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