The Research And Design Of Motion Control System For Four-axis Desktop Industrial Robot

The development and extensive application of industrial robotics have contributed to amajor progress in industrial technology. At the same time, the modern large-scale productionhas required more of the instantaneity, accuracy and operability of industrial robots. As thecore of the industrial robots, the industrial robot motion control system determinesthe performance of industrial robots to a great extent. To solve the problems of the systemwhich include its poor instantaneity, low expansibility and compiling efficiency and so on,thepaper constructed a set of dedicated motion control chip-based industrial desktop four-axesrobot motion control system based on the comparison of different motion control schemes.With the goal of the realization of industrial robot motion control system, the paper didthe following researches: firstly, the paper built a hardware system, the core of which is aprofessional motion control chip. It employed the motion control chip PCL6143to realize areal-time and accurate control over the four axes and used ultra-high-speed serialcommunication bus Motionnet to achieve the communication junctions between the systemand the upper computer. Secondly, based on the characteristics of the industrial robot’scontrol over occasions and the structure of the existing programming language,the paper designed a complete orthogonal, concise and also efficient industrial robotprogramming language called IRL language (Industrial Robot language). Thirdly, as for thedesign and realization of the explaining system of the IRL language, it used the uppercomputer to compile while the lower computer is employed to explain. The IRL language iseventually interpreted as the objective function by using Parser Generator---a tool for analysisto analyze vocabulary and grammar. Finally, the paper prepared the integrateddevelopment environment, which combined four YAMAHA uniaxial industrial robots into adesktop four-axes industrial robot to complete the joint debugging of the hardware andsoftware of the motion control system; the test results have proved the correctness andefficie-ncy of the industrial robot motion control system.