| Robot is an indispensable automation equipment to advanced manufacture; its using is an important sign of industrial automation level of a nation.In the study of robots, the research of architecture on the robot control system has been a focus of concern. Yet most commercial robot control system has adopted a closed structure: using a special computer as upper host, using special robot language as a off-line programming tool, using special microprocessor, and control algorithm fixed in the EPROM.This system lack of open to users, fails to maintenance and improvement, make against expand the systems function. Therefore it is significant to study on the robot with open architecture. It is also the trends in the development of international control system, the international community develop country deploy intense competition in the field. This paper main goal is to establish an open-architecture robot control system hardware, software platform, the robot simulation 3D modeling and visualization simulation and finally preliminary discussion of image-based open servo robot vision system.This paper is the study of 6-DOF industrial robots. Firstly, introduce the robot structurethe, the mathematical models and the space motion coordinate frames of the robot are set up with Denavit-Hartenberg method. Kinematics analysis is done in this paper include positive and athwart problem on the basis of this analysis.Secondly, realization modes of open architecture controller for robot and its open characteristics are studied, and the controller hardware architecture and design principles are analyzed, and an open architecture controller is designed and implemented established by the six-degree-of-freedom robot against.The system based on industrial PC and controller, with fully coordinated utilization of the rich resources of industrial PC and powerful real-time processing capabilities of controller, it is easy to implement real-time and multi-task control for robot. The system installed and run on Windows XP operating system platform, making use of the open interface of controller, the software of this system facilitates secondary development and modular design .A 3D visual scene for the simulation of robot's motion is built using OpenGL in LabWinodws/CVI environment. Serial communication ensure the real-time display of 3D graphics and the actual robot movement synchronization, implement monitor the working conditions of robot on PC. Finally,the open robot visual servo system based on image is discussed.we also investigate the elementary image processing of robot vision.The system provides a wide open, extensible platform for the robot control system. various sensors can be easily added to the system to expand the functions of robots, robot control system will be expanded and seamless integration can be applied to different research and development projects. |
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