Design Of The PR Robot Controller

With the development of control science, the research related to advanced controlling technology and method of robot have been springing up these years. To design perfect robot system, a lot of correlative technologies in control field are involved, such as robotic modeling, research on kinematics and kinetics of manipulators, study of optimum trajectory planning algorithm, design of advanced robotic controller, study of nonlinear and robust property of robot system and research on intelligent control algorithm. This article systematically introduces some technical key points and realization methods of robot control principles, hardware design of 4-joint PR robot system, and development and application of systematic software.The technique of entirely digital position servo control adopted in the PR robot system, which is different from traditional robot designs, greatly improves system control precision and safely guarantees reliability. This robot control system has adopted 3-stage CPU control structure: The highest stage is the PC, which realizes systematic management and cooperative control of robot and man-machine inter-communication, as well as advanced algorithm operation such as inverse kinematics and real-time trajectory planning of robot; The middle one is the high-efficiency DSP processor, which realizes subtle trajectory planning for each robot joint in joint space, and controls robot to perform those show-teach operations and return to null-position; The lowest is AC servo driver, which realizes accurate error-driving control of servo motors, fault diagnosis and self-protection in motors. The difference between the giving frequency from the PC and that of servo control system enables the upper and lower controllers operate at different speeds. This way, the high-efficiency property of DSP can be fully exercised to improve control precision and dynamic property of servo control loop and enable the PC to execute more complicated algorithm of robot.Through debugging hardware and software of the system and experimenting repeatedly, the results show that this robot control system has good real time property, high position precision, stability and reliability. Thecontrol system based on advanced digital position control technology, which has been introduced by this thesis, presents a feasible scheme for the application of robot technology, and also has important reference value and broad application prospect.