AC Servo Control System Of The Incisory Robot Based On PMAC

With the background of practical projects, aiming at cutting problem of space curve in shipbuilding industry, one type of cutting robots is designed. And they are used to cut holes on shell and cut the ends of the steel tubes. In theory, the small hole-cutting machine can cut arbitrary hole on arbitrary curved surface, and the tube-end incisory robot can incise round tubes' ends of any form. In analysis of the popular numerical control system now in the world, we determined the cutter numerical control system hardware design has the open style structure of IPC+PMAC movement control card ,and full use of the PC's rich resources and the PMAC card formidable real-time processing function. The numerical control system hardware has used the parallel double CPU style structure, this kind of double CPU structure, reduced personnel's work greatly, the system has great reliability and maintainability. In detail the design of the software system should be made up of some function module, like this then may increase the flexibility of processing programming greatly, and realize true significance opening. We adopt closed-loop control scheme . Thus it is guaranteed to control the robot accurately end in the cutting state.In this paper, we have finished the computation about the ac servo motor ,ac servo motor driver and the movement control card of numerical control system and control system building. The paper has recommended the calculation methods of various space curves in the software design. The paper has introduced the mechanical structure, hardware platform of the incisory robot, and base on the actual situation has carried on the PID parameter adjustment to the equipment.