Study On Industrialrobot Real-time Controlsoftware With Windows-based

Windows operating system is the most common general operating system.And itscompatibility is the best. With the rich application software, user-friendly graphicalinterface, good stability and security, it has been gradually used in the field of industrialcontrol. But as a general operating system, Windows operating system adopts thepreemptive multi-tasking scheduling strategy in order to ensure its comprehensiveperformance. So Windows operating system can not satisfy the motion control systems’requirements of real-time.In order to apply the Windows operating system into the motion control of industrialrobots, this paper has proposed a method which writes driver to response to the hardwareinterrupt to improve the real-time by analysing the operating mechanism ofWindows2000. In this system, the trigger signal is occurred by the interrupted of theclock of the PCI-485Multiport Serial Card. And the time-critical tasks will be completedon the interrupt service routine. So that Windows operating system can satisfy the motioncontrol systems’requirements of real-time.For the sake of letting the industrial robot achieve continuous path control, firstly,this dissertation has completed manipulator trajectory interpolation and kinematicsanalysis. Then according to the robot arm structure and hardware systems, it redesignsthe synthesis algorithm of the roughing and rotating transformer. As a result, it hasgreatly improved the accuracy of the position feedback data. At last, taking thegravitational influence of the robot arm into account, this paper uses the method whichuses PD+real-time gravity compensation to control the robot arm, and distinguishes thegravity parameter of the big and the small arm.Through the comparison with the timing accuracy of the multimedia timer, it hasverified that using the method of responding to hardware interrupts improves the real-time of Windows operating system is feasible. Finally, by the straight line and arctrajectory tracking control experiment， it verifies the success of the real-timetransformation of the Windows operating system, meanwhile, verifies the correctness ofthe software.