Open AccessDynamic Modelling and Motion Controller Design for Industrial Palletizing Robot and Collision Detection
Author(s) -
Kai Gu,
Qixin Cao,
Pengfei Wang
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/790/1/012157
Subject(s) - parallelogram , inverse kinematics , robot , control engineering , control theory (sociology) , kinematics , industrial robot , controller (irrigation) , computer science , robot control , simulation , collision , engineering , control (management) , mobile robot , artificial intelligence , computer security , agronomy , physics , classical mechanics , biology
The 4-DOF parallelogram industrial palletizing robot is taken as the object of study. This paper designs and develops the real-time industrial controller based on the IPC and high-way EtherCAT fieldbus. What’s more, the control algorithm and structure based on the dynamic feedforward contributes to the compensation of robot dynamics in theory. Experiments on the task switching and master delay show that this control system has a good real time response quality. Based on the kinematics analysis of robot parallelogram structure, this paper builds the robot dynamic model. To increase the computing speed and ensure the real-time performance, the model has been simplied and proved to be effective by simulation contrast verification.