Windows-Based Robot Control Technology And Implementation

In this dissertation, the development and trend of robot controller are described; the architecture of robot controller are proposed based on Windows; the robot control technology is lucubrated to ensure the real time control of robot; a Windows-based robot controller is developed and applied to a robot.The Windows-based robot controller is deeply researched. The main contents in this dissertation are as follows, summarization of robot development history, the hardware composition of the controller, the software configuration of the controller; VxD development based on Windows 95 and Windows NT; the interface technology between virtual device driver and applications; multi-thread and asynchronous design technology; robot motion control algorithms and intelligent control algorithms; robot remote monitor technology etc.Chapter 1, robot development history and trend are described. The structure of domestic and overseas robot controller, emphasis on PUMA-560 and domestic precision robot No.1, are introduced.Chapter 2, the experiment platform is illustrated; the controller is consisted of the hardware and software; the construction of hardware of the controller, functions of multi-axis servo-control card and other hardware are analyzed.Chapter 3, the glossary of Win32 and concerned features areexplicated; the systematic structure and control software modules are introduced; both the functions and features of main modules, the communication and scheduling among modules are illustrated.Chapter 4, the mechanism of virtual device driver, interrupt, I/O, Windows 95 operation system and relational technology are presented; the concept of VM and VMM are introduced; the structure and the design method of VxD are described in detail.Chapter 5, multi-thread technologies quicken the response velocity, improve the efficiency of CPU and ability of corresponding background tasks that make the controller having the ability of executing multi-tasks; asynchronism technology is utilized to develop high effective and haleness applications.Chapter 6, the communication mechanisms between VxD and applications are described in detail. Interface between VxDs (VxD of servo-control card and VxD of I/O card) and applications are developed and encapsulated.Chapter 7, the robot motion control algorithms and intelligent control algorithms are solved; the function of algorithms is explained; procedures of algorithms are developed.Chapter 8, samples are collected and neural networks are trained and simulated. The LM BP network has fast convergence velocity; the aim of the simulation experiment is achieved by using the LM BP network; the simulation result are all less than permission errors in abnormity testing of motion and load of robot.Chapter 9, the network communication functions of the robot controller and means of implementing these functions are presentedin detail; The communication mode of Windows95/NT and the basic principles of Winsock are described; the applications of Winsock are discussed in the robot controller.Chapter 10, Windows NT is compared with Windows 95; Virtual device drive of Windows NT is investigated and the VxD of servo-card is developed.Chapter 11, this dissertation is summarized; specifications of the Windows-based robot controllers are illustrated; some proposals are presented based on the controller.