Design Of The Servo-control System Of The Four-joint Robot

With the development and application of computer and microprocessor, robot-servo control technology has got great development. The thesis firstly introduces the overview of the current state of the technology of the robot controllers and explicates the system construction, mechanical structure and controller structure of the four-joint robot. On ground of analysis of the three different control systems, the author finally designed a third-stage control system with modularizing and more CPU which can realize auto cooperation multi-axis movement and demo-teaching control. The servo controller and the joint servo drivers (more CPU) make up of the robot lower stage control system ( the lower control system ), the PC is the upper controller of the robot system. The servo controller which takes the DSP chip (TMS320LF2407) as the core of the controller, constitutes hardware circuits, and by making great use of the rich lower software, realizes the interpolation-calculate and servo-control the four joints of the robot. It adopts asynchronous serial communication to communicate, and realize the two-stage controllers running at different speeds, and can fulfil the different demands of the calculating-speed and calculating-hour of complex control algorithms and the high servo-frequency of capability and accuracy of robot movement. The whole lower software system adapts the method of open and modularization architecture, it's convenient for users and function expand.The thesis is composed of three parts: theory, designing and debugging. The theory part introduces the base structure of the robot, the function demands of the controller, the movement parameters of the joints, the control theory of the drivers, and the choice and analysis of the method. The designing part is mainly on the hardware and software design of the system. It includes the structure of the Servo controller, the hardware circuit diagram, the skill of the printed-circuit board, the software structure, the flow analysis and programming. The debugging part includes the debugging methods of the servo controller's hardware and software, the multi-axis movement and the single-axis movement, the demo-teaching control, and the trouble's diagnose and disposal. It also provides some data and curvesABSTRACTof the correlate control measure. These results shows the research of the item reach the design demand of the construction of robot control lab.