Design of the control system for palletizing robots: The control system of palletizing robots mainly includes a software control system and a hardware control system. In the design of modern palletizing robot systems, the hardware control system mostly adopts a modular form, and the overall structure uses a distributed control structure.

The upper - level computer uses an ordinary industrial control computer, which mainly handles system monitoring and operation management, such as teaching pendant control, display services, coordinate transformation, automatic acceleration and deceleration calculation, etc. According to the user's commands and the requirements of action program statements, it conducts trajectory planning, interpolation operations, and coordinate transformations, calculates the positions of each axis motor, receives feedback signals from the next - level and signals from external sensors, judges the execution status of tasks and the environmental state, and then transmits a position update value corresponding to the set point to the position servo systems of each joint at the next level to achieve the coordination and control of the movement of each joint.

The lower - level computer uses a DSP controller and a PLC programmable logic controller. The DSP controller is the PMAC104 motion control card used, which mainly performs real - time kinematic calculations, trajectory planning, interpolation calculations, servo control, etc. It continuously reads the pulse amounts of each axis encoder, calculates the current position of the robot, compares it with the given position using software methods, and performs PID adjustment on the deviation. The PLC mainly handles the control of the peripheral equipment around the robot, such as the pneumatic suction cups of the robot gripper and the monitoring of various conveyors around it.