CNC woodworking engraving machine control system of the robot

CNC woodworking engraving machine engraving of the robot control system is a multivariable nonlinear and strong coupling control system, the dynamic equation of the establishment and calculation need to spend a lot of time, which makes the robot's real-time control becomes more difficult, in order to improve the running speed and processing power of a mobile robot control system, the system adopt the layered hierarchical intelligent control mode. As shown in figure 1, figure 1 CNC woodworking engraving machine robot control system hierarchy structure diagram of numerical control woodworking engraving machine carved the high-level control of robot, is realized by using high-performance microcomputer Pentium586 main task, there are two: one is in charge of system initialization, human-computer interaction, diagnosis and error reporting system, organization and management, complete the robot's path planning, and the robot end executor cartesian coordinate transformation for the joint coordinates, to the joint controller ( Single chip microcomputer) A control instruction, and the operation of each joint motion information data to the Shared RAM, at the same time receive each joint controller ( Single chip microcomputer) Return the feedback data provide the basis for the next step control, it is common to ordinary robot; 2 it is carved image or graphic pattern recognition, carving style and feature extracting, it is peculiar to the CNC woodworking engraving machine engraving robot. Choose 8098 single-chip computer servo control of each joint, the level MCU is mainly to complete the receiving host to the location of the movement control instruction, complete the joint trajectory of interpolation, is responsible for the CNC woodworking engraving machine engraving robot movement of the implementation of the action, and receive joint movement data, the joints servo system for real-time control. 5 piece of hardware structure of the single chip microcomputer controller are exactly the same, can realize the generalization, standardization and modularization of the overall system, increase the interchangeability within the system, and can realize in some degree of redundancy, improve the reliability of the system between the host and five single chip microcomputer, through public RAM to exchange data and control commands. CNC woodworking engraving machine engraving of the robot control system hardware structure is shown in figure 2, which set the closure protection circuit and time delay protection circuit is in order to improve the reliability of the system. Figure 2 CNC woodworking engraving machine robot control system hardware structure diagram