Research On Adt-based Industrial Robot Control Experimental Platform

Along with the raising of industrial automation, industrial robot has became a standard component in industrial system, but the closeness of traditional industrial control system gradually can't meet the requirements of the integrated equipment from industrial production. Now, open robot control system into which introduce mature computer technology has good openness and has been becam the trend of industrial robot control system.In this paper, the industrial robot control system architecture based on PC&ADT856, is determined on the basis of analyzing open robot control system reserch in domestic and overseas, studing the key techniques in the control system development.In the sudy of open robot control system, we firstly solve the kinematics and then research the trajectory planning, to solve the joint space trajectory planning, Cartesian coordinate space line and circular path planning, which based for designing three motion modes such MOVJ, MOVC and MOVL. After analysing the structure of Data-Exchanging File, we present a off-line programming method based on AutoCAD which planning the excutable joint control file through extracting the geometric information from work path curve and points.Employing servo motor as joint driven equipment in robot system, we ascertain the transformation between the motor control pulse and joint angle. After analysing robot joint movement and motor drive function library in ADT856, we accomplish pointing driving control and continuous control of robot end-effector in Cartesian coordinates, and set joint-drive control strategy and carry out the re-development of library. It eventually develop a simple robot control system main program which achieve Teaching by Showing and Off-Line Programming control, adopting the object-oriented approach to classify the control system abstractly and constitute the independent functional module implemented using Visual C++platform.In ADAMS, importing the discrete joint position and velocity data created by teaching and off-line control, simulating robot movement and drawing the curve of joint variable, joint velocity and actual task path of end-effector using ADAMS/Solver, we verify the stability and accuracy of robot control system.