Open architecture multi-axis motion control system for industrial robot based on can bus

摘要

To shorten the developing period of multi-axis motion control (MAMC) system for industrial robots in different manufacturing places, it often prefers motion controllers to be modularized. In that case we can connect a certain number of controllers together for occasions where more axis (>6) controlling or multi-robot collaboration is needed. This methodology allows for a highly accurate, flexible, compact, and low-cost motion control system. In order to connect those controllers, CAN bus become the best choice due to its excellent stability and high compatibility with many existing industrial systems. To achieve better interchangeability and interoperability, the system adopts an open architecture. All the control tasks are assigned to personal computer (PC) and motion controllers respectively. The whole multi-axis motion control system is implemented on a platform consisting of a can bus based multi-axis motion controller, servo drivers, a 6-Degree-of-Freedom arc-welding industrial robot and a host personal computer. Furthermore, it has been proved that the newly developed controller achieves desirable performance in Qianjiang-I arc-welding robot with advanced adaptive PID control algorithm.