Redevelopment Of Motion Control System On 4-DOF Serial Robot

With the rapid development of robot technology, the robot play a more and more important role in every field. Redevelopment of motion control system on robot can achieve remote control of the robot, through which remote kinematics analysis of the robot can also be realized. It has important theoretical and practical value in expansion of the robotic control range, accelerative development of robot technology and improvement of industrial automation level. The thesis is based on 4-DOF serial robot, researching on the redevelopment issues of its motion control system, and the research contents are as follows:(1) With regard to control mode of network robot, a remote control system of robot based on B/S mode is developed through its motion control system. The system has good scalability and resource sharing, it is also convenient for non-technical personnel to operate.(2) In view of realization aspect of B/S mode, Common Gateway Interface is utilized to resolve the problem that Web exchange can not couple with control information exchange of robot system. Analyzing dynamic link library of the motion control card, remote control program is developed to meet the needs of the B/S mode, which not only provides condition for achievement of remote control, but also lays technical foundation for subsequent redevelopment.(3) Combining with the problem of kinematics analysis, D-H method is utilized to establish kinematics model of the 4-DOF serial robot. Besides, a method used for inverse solutions of remote kinematics is built through the research on inverse solutions of kinematics equations.(4) Through the experimental test, the redevelopment of motion control system on 4-DOF serial robot achieves the expected goal in aspect of remote control. The feasibility of the redevelopment scheme is proved in the test, meanwhile, the thesis points out the direction of improvement and futher research.