Research On 5-dof Series Robot Control System Of Open-architecture

Although the traditional robot controller with close-structure is simple and stabile, it is only applied to fixed assisment and object. It is difficult to be adjusted to modern manufacturing that has much variational manufacture assisments resulted from more and more request for product diversification. So, it is necessary to make use of the controller with open-arthitecture in order to fulfil modern manufacturing. Both sofeware and hardware of the robot controller with open-architecture are exoteric and can make corresponding adjustment for different instance, which not only make for keeping the capability of robot in existence or prolonging its deadline, but also introduce up to date advanced control technology into robot, and boost technology updating. All of above will more reduce the cost of robot development and promote the popularization of robot application. In turn, these will further accelerate the development of robot techenology.Firstly, the thesis analyse the advantage and disadvantage of close control system in comparison with that of open control system. Then, we expound the respective specialties of SCM control system and PLC control system and PC control sysrem which are popularly used these days.Secondly, we further expound the different realizable modes of open control system based on PC. Consequently, we make certain to set up the 5-DOF control system with open structure based on "PC+Motion Controller". Then, we analyse the PCI-1243U Motion Controller and driver circuit and protection cuicuit respectively and establish the hardware plstform for control system.Thirdly, the kinematic problem of the robot is discussed and the reference frame for each joint of the robot is set up by the method of Denavt-Hartenberg. Then the transpositional matrix of the robot is got from its paw's coordinates to its base coordinates, and the kinematic mathematical model of the robot is established.Finally, based on the kinematic mathematical model, we achieved the programme algorithm. According to object oriented programme thechnology and modular structure design idea, we write the operating interface of point-position control and calculated programme with VB based on Windows XP operating system. We study the linear interpolation problem and analyse the cause why the general algorithm of linear interpolation is not good. Then, the corresponding ameliorative algorithm is given, it heighten the precision of interpolation. At the same time, in relation to this problem, we research the method how to realize cycled time control under VB condition. And write the programme of G code compiler under the system condition.