RESEARCH ON DESIGN OF NEW CONTROLLER FOR ROBOT ALMEGA8 FOR TRAINING

Abstract

This article presents the research results on the design of a new controller for the ALMEGA8 six-degree-of-freedom robot that is no longer operational. The robot's control system uses an HMI screen connected to a PLC S7–1200 for communication to control six motors for the robot's six rotary joints and a pneumatic valve for picking and placing objects at the end-effector. The technological requirement is that the robot picks up products from the conveyor belt and transports them to the storage area. Based on theoretical principles, MATLAB software is used to solve the robot kinematics problems. The control system, relying on the results of forward and inverse kinematics, generates control pulses for the drivers to control the robot's motors to operate according to specified positions and trajectories. The research results demonstrate the stable operational efficiency of the ALMEGA8 robot control system, meeting the movement and accuracy requirements for training purposes.