The Research On Control System Of Open Architecture Robot

Series joint robots have been widely used in the felid of the industrial automatization, but most robots are not open. This paper has designed a set of preferably open and universal series joint mini-robot with 6-DOF, which bases on PC, mostly for fulfilling the teaching and supporting a basement for the lab's deep studying the technology of robots.The international and domestic development of industrial robot is introduced. The domestic research and development of teaching robot is expounded. Then, the scheme of the robot and researching contents are proposed, basing on contents of working and demand of the robot.A new structural type of joint robot is designed so that it achieves the design goal of beautiful robot appearance, small cubage, more mechanical precision. The static and modal analysis of the key mechanical part is simulated by ANSYS, consequently, validated the design. According to degrees of freedom distribution and mechanism of the robot, the forward and inverse kinematic equation are obtained, which are the theoretic base of robot control and trajectory planning.Through the study of the structure of control system used in robot, at the end, 2-class distributed and opening control structure is adopted.The paper has designed a set of joint servo control system with compact circuit and more precision position control, which took professional control chip-LM629 as core. Through the experiment, it indicated that the control effect was perfect.Lastly, to satisfy the system more reliability and quickly, this paper made more research of communication system based on CAN bus and completed the designing of hardware and software in the joint of CAN nodes according to the character of series joint robot with 6 DOF.