| Research on architecture of robotic control system has been an important direction of robotic research. Traditional commercial robots commonly adopt the closed control architecture, which uses a special-purpose computer as the main-control computer, or uses special programming language to design control software, or uses a dedicated microprocessor integrating the servo drive control algorithm.They are less open to users,and it’s difficult in terms of system maintenance and improvement as well as further expansion of the system functionality. On the contrary,open system provides good platform compatibility and can present a consistent style of interaction with the user and interoperate with other system applications. Study of the robot control system with open architecture has important academic and engineering significance.This paper makes preliminary study on the robot open control system based on the project of Electric meter verification robot of Shenzhen Smart Technology Research Institute.Firstly,this thesis analyzes the present situation and development trend of industrial robot control system and summarizes the open control system.Secondly, the hardware and software architecture are designed accrording to the actual needs of the research object, and this system adopts PMAC series motion controller as the main controller, and selects SANYO DENKI R series drivers and motors to compose the underlying servo system,and develops motion control software based on this motion controller.Thirdly,the robot Ethernet fieldbus control system is discussed on the basis of Ethercat fieldbus and the hardware structure of the master-slave equipments as well as software protocol are studied. Finally,the DC servo position and torque control of the end actuator are studied and the end controller is connected with the main-controller by 485 bus.Actual application shows that this control system is equipped with high extensibility and compatibility as well as real-time capability. |
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