The control system of virtual simulation and speed optimization on assembly manipulator

摘要

Considering the characteristics and control requirements of assembly line, we develop a virtual simulation system which combines virtual reality and electrical control technology. The system can be used in system monitoring, debugging and staff training. The electrical control program is written by software of Rockwell based on virtual PLC, which realizes the application of velocity curve in linear type and Cosine-linear type on the object of virtual simulation through the RSTestStand software to build 3D virtual simulation model of the automatic assembly system of manipulator. The motion visual effect and monitor curve on the object of virtual simulation can indicate that the control system works well. It can also reduce mechanical arm joint motion and force effectively, through the start and stop, acceleration and deceleration of the manipulator movement and optimization of the speed using cosine timing scheme in uniform conversion.