Study On The Control System Of A Robot Of Five-Degree Of Freedom

Technology of Robot is a new technology which has devolopped rapidly for about 30 years. It delegates the tiptop achievement of the system of mechanics and electronics. This paper studies on the control system of a robot of five-degree freedom.This Robot is a joint-Robot like a man and uses worm and worm wheel and harmonic gear retarder in its machine which makes the structure of Robot more refinement. Every joint is drived by stepping motor.Kinematics analysis is done in this paper. The analysis includes positive and athwart and work space.The computer interface of the robot of five-degree of freedom is designed by VB 6.0 .The control system (including AT89C51 SCM board ) and the joint control-drive system(including AT89C2051 SCM, stepping motor drivers) of Robot are designed. The software is all designed in the paper.Finally the experiment is made. The experiment results indicate that the Robot and its control system have reached the design request.