Abstract
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.
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