The Research And Design Of A Robotic Control System Based On Open Architecture

With the development of science and technology, the applications of robots become more and more popular in every industry or trade, which has been a key component of automatic production. Because of the rapid evolution of computer technique and control method, not only has the applicationflexibility of robot technique been expanded widely, but also has the performance and structure of control system been made great influence on. Under these circumstances, it is becoming a trend from close to open gradually.In this dissertation, the standards and characteristics of the open architecture control system for robotic is researched at first, and some realized modes of the open architecture control system is compared as follow . On the basis of discussion above, we decide to develop the open architecture control system for robotic based on IPC +DSP mode. For the purpose of ascertaining the position and orientation of the end of the robotic arms and motion path in space precisely, it must be studied for the basic theories of the robotics kinematics and robot motion path planning, and it is constructed by using these mathematical tools for the orthogonal coordinates of connecting rod clevels and kinematics equations of the 6 degrees of freedom joint robotic; at the same time, under the circumstances of comparing and analyzing kinds of interpolation algorithm, we decide to use the CP+PTP mode to plan the path according to the practical conditions on the spot of production. At last, we design the software and hardware of IGM arc welding robotic control system, based on the theories' studying and analyzing in previous four chapters. It consists of two part, the one is hardware : integrating the system of the arc welding robot's hardwares and its working principles, separating and extracting the original system's control signals, designing the control system openly and its working principles, constructing the structure and principle of the motion card based on DSP, designing the telecontroling teaching box or control panel of touching screen based on USB interface, applying for some software and hardware measures on control system's anti-jamming; the other is software: putting forward the three levels opening software structure modelof arc welding, comparing the opening of software structure model between OSACA and ours, putting forward the solutions of the PRI and communication among the threads of software system's modules, using the DLL's techniques to solve software's module design and putting forward the frame codes, bringing forward the path planning software's realization by CP+PTP mode, discussing the real time of Windows2000 operating system and advancing its solution.