Research On The Motion Control System Of An Orthogonal Coordinate Robot Based On Open Architecture

Along with the rapid progress of science and technology in the modern industry, the openness and universality of a robot control system is playing a more and more important role. In this dissertation, a PC-based robot motion control system with open architecture is designed, which has much better quality of openness, competitiveness of cost, and comprehensive performances. Such kind of a robot control system perfectly satisfies the requirements of modern manufacturing techniques. In general, this dissertation is composed of the following aspects.Firstly, the hardware structure of the orthogonal coordinate robot motion control system is built. Functions and parameters of the ingredients of the hardware structure are introduced in details in this part. Afterwards, we improve the advantages of open architecture based robot control system with comparison to PLC control system. Moreover, the open loop control principles of step motors are explicitly elaborated.Secondly, the software structure is designed as the key part of the motion control system. In this part, the general software skeleton is introduced, and the skills of programming of making the software skeleton into reality are explained in details. According to the functions needed, the User-PC interface is designed for users to communicate with the machine.Thirdly, two ways of robot programming are designed. One of the methods is the so called"Off-line Programming", which has clear user interface and is quite easy to use; the other method is robot language programming with a language functions library generated and packed with Windows DLL. The principles of Linear Interpolation and Circular Interpolation are elaborated in this part as well.In the last part of this dissertation, an actual experimental environment is built in the laboratory making the idealistic principles into practice. During the experiment, several testing codes are programmed in the system. The result turns out to be satisfactory and reliable, which perfectly improves the correctness and advances of the orthogonal coordinate robot motion control system.