Research On PCI Driver For Multi-axis Motion Controller And Its Application In Industrial Robots

In this paper, the main point is the software research on multi-axis motion controller. With deeply understanding of motion controller's hardware design, a WDM model driver under windows operating system is completed for its PCI interface. Only through the driver, could the host computer access to the controller hardware resources to complete the data exchange with the controller. In order to ensure there is a proper and orderly way for the communication between the host computer and the controller, a set of communication mechanisms is made out. In this way, the instructions can transport from host computer to the controller, and the control error-data can transport from the controller to the host computer. During the experiment, the communication mechanism works effectively and feasibly. The motion controller in this project is used to control the motion of industrial robot with six degrees of freedom. We control the robot well with our self-developed controller.There are 5 chapters in this thesis; each chapter is summarized as follows:In the first chapter, the development and application of the motion control technology at home and abroad is investigated, the motion controller technology prospects and development trends are pointed out, combined with the domestic research status of the motion controller, clarifying the meaning and the content of this research topic.In chapter two, based on the introduction of the controller's hardware structure, indicated the need for the driver and the status and role of the driver in the operating system. A detailed explanation for PCI9052 chip configuration is made, and the steps how to compose driver code with DriverWorks is discussed. Gave necessary instructions about debugging, installation and uninstall of the driver.In Chapter three, the means and contents of the communication between the host computer and the controller are pointed out. The communication mechanism is proposed so that the communication between the controller and host computer is ensured correct and orderly.The fourth chapter, base on the six-DOF industrial robot hardware platforms, expressed the whole process of the motion control of the robot with the controller made by ourselves. Each kind of motion control for industrial robot is discussed; there is the motion control for a single joint robot, point to point, along the axis and robot teaching and programming. When come to the knowledge of robotics, a brief description is given out in this paper.In Chapter five, the research of this thesis is summarized. Combining the industrial robot control experiments, the reference for further study is put forward.