Trajectory Control of 6-DOF Welding Robot Based on STM32

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.