| In this paper, the mathematics model of the robot uses the PUMA560 structure while establishing the kinematics equation and studying the direct and inverse kinematics of manipulator. Because of problems involved in the traditional industrial robots and the maturity of the open CNC technology, the control system uses the control model of PC+motion control card. The card controls the 6 joints of the robot and the I/O control the open/close of the welding arc. Combined with the multi-level and modular design method of open control system,design the control system on the basement of the Windows operating system using VC++. The control system includes many function modules and the compiler and executing module are the key modules. The operating model of the system is teach+instruction programming. Design the instruction structure and its compiler using open source code library BOOST. Study the linear and circular interpolation algorithm of the robot in Cartesian and joint coordinate system and realize it in the executing module. Choose the Matlab plugin Matcom45 to process matrix involved in the kinematics. For secondary development and function expansion, different function modules are modular encapsulated. |
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