Design and implementation of control system for transport robot based on STM32 microcontroller

A kind of electric and pneumatic joint control system for transport robot was proposed, and the system implementation was given. A transport robot and a 3D model built by SolidWorks were provided to illustrate the control system. The control system adopted the driving method of motor and cylinder, a...

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Vydáno v:2021 IEEE International Conference on Artificial Intelligence and Computer Applications (ICAICA) s. 466 - 469
Hlavní autoři: Mingliang, Zhang, Liquan, Guo, Chen, He, Benkun, Bao, Ziwei, Lu
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 28.06.2021
Témata:
Closed loop control
Control systems
Microcontrollers
PI control
PID
Pneumatic systems
Solid modeling
Steady-state
STM32
Three-dimensional displays
Transport robot
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Shrnutí:A kind of electric and pneumatic joint control system for transport robot was proposed, and the system implementation was given. A transport robot and a 3D model built by SolidWorks were provided to illustrate the control system. The control system adopted the driving method of motor and cylinder, and took STM32 microcontroller as the control core. In order to improve the control precision and compliance of the system, the position loop and speed loop were used to establish the double closed loop PID control. In order to verify the performance of the system, 25 handling experiments were carried out for four kinds of box workpiece with mass of 1kg, 2kg, 3kg and 4kg respectively. The results show that the system can control the transport robot to complete the handling of the box workpiece. The system has a fast response and it is stable.
DOI:10.1109/ICAICA52286.2021.9497920