The Distributed Robots-control System Based On MODBUS

Network control to Robots is a new way for Robots-control, which integrates three advanced techniques including computer technique, communications technique and robotic controlling technique. Once that way is applied in the robotic controlling system, user can control or trouble-shooting the remote Robots on the network through the system's HOST. After studied some techniques including advanced Field-Bus, Robots-control and Distributed control, this dissertation uses the robotic controlling technology available and advanced Field-Bus to develop a full-distributed robots-control system based on Modbus. The system lay a foundation for the accomplishment of the Robots'remote control. The followings are what the author has worked on for this thesis: Firstly, in order to optimize the system's structure, some related technologies including Distributed control and Robots-control are generally studied and the total structures of this system are proposed and the following implementing methods are proposed: the design method and the design principle of both the hardware and software, a simple and useful control arithmetic of robot. Secondly, in order to solve the communication problem, I introduce something about Modbus protocol's implement according to Robots-control's characteristic. Thirdly, in order to solve the Robots'control, several kinds of common methods of designing the Robot-controller are analyzed, then whole system's hardware and software are proposed. Finally, in order to prove the effect of the researching works, I give the example of this system including the host computer running the control software and some parts'going. It is proved that the system i develop has fulfilled the objective of design. The system we build is an instance of a advanced technique. According to the above studies, the prediction can be given: the successful design can be used to control or monitor the Robots on the network and be widely used to teaching and industry.