1. 研究目的与意义（文献综述包含参考文献）

The six-joint robot [1] has high movement flexibility, large working space range, can flexibly bypass obstacles, and has a compact structure and a small footprint. The relatively moving parts on the joints are easy to seal and dustproof, and are widely used in Processes such as loading and unloading, picking, arc welding and painting of machine tools. With the wide application of robots, it is particularly important to study the basic theory, specific structure and technical methods of robot design. The development of power electronics technology, micro-processing technology, control technology and motor manufacturing technology has made the performance of motion control system [2] reach a new level. In the field of transmission, it is often necessary to achieve high-precision position control of the controlled object [3], so industrial robots have a wide range of applications in the field of industrial automation.Most of the current ABB six-joint industrial robots are used on the market. Compared with other similar robots in the fields of material handling, machine loading and unloading, ABB robots have shortened the working cycle by half. At the same time, ABB robots can be mounted in bracket, wall, tilt and inverted, and the installation is very flexible, and ABB The robot has high repeatability, stable structure, long service life and high market share. Therefore, software and hardware system design (kinematics modeling [4], trajectory planning [5]) for ABB robots has very high practical significance.

2. 研究的基本内容、问题解决措施及方案

Graduation design (thesis) content and requirements:Using the laboratory's existing world-class ABB six-joint industrial robot as the platform, the software design controls the six actions of the ABB robot and the five-half-degree-of-freedom trajectory control, which can imitate some functions of the upper limbs of the human body. Single-axis control can also control six axes at the same time; the drive mechanism adopts electric form, and provides AC servo motor control scheme according to different requirements. The servo motor control mode is manual and automatic; the control system requires ABB's own robot controller for control. .The specific work that should be done in the thesis is:1. Check the Chinese and English scientific and technical literature on ABB industrial robot motion control and translate the relevant English materials of not less than 3000 words into Chinese, so that the meaning of the text is basically correct and the language expression is clear.2. Do a good job of reading notes (review) related to this topic, the content of which must have a corresponding theoretical analysis, can track the advanced technology of the subject, and understand the latest research results in this field.3. Understand the kinematics and composition of the robot and model the kinematics of the ABB six-joint industrial robot.Then the hardware and software design of the control system is carried out, and the PLC program is written to study the control law of the robot to realize the trajectory control of the industrial robot.The content and requirements of the experiment:On the experimental platform of the ABB six-joint industrial robot control system built in the laboratory, comprehensive experiments and tests were carried out for the trajectory control:1. The motor drive and motion control system are experimentally commissioned and commissioned to normal operation;2. Use ABB robot controller to realize the setting of the six-joint servo system driver;3. Use the external PLC to achieve effective control of the robot.