Research For MENTOR Robot Control System

On the basis of robotics theory, the article carry on the kinematics analysis for MENTOR robot (a five DOF robot arm) founded on D-H coordinate system. A series of kinematics equations are deduced to realize kinematics forward solution by means of transformation equations and inverse transformation method (namely the algebra method) is introduced for the inverse solution, then adopting the method of power-coefficient to select the superior solution of the inverse solution.In path planning of MENTOR robot, based on the data of position and gesture in 2 dimensional environment from robot vision or from manual input, the method of the shortest tangent path planning is adopted to realize the path planning of avoiding the collision with obstacle in the environment of static obstacle, and carry on linear interpolation algorithm to the path, guaranteeing that the arm gripper can motion along the path of planning. These algorithm are realized based on VC++6. 0 in Windows XP in this article. Therefore, the path planning of avoiding the collision with obstacle and control of MENTOR robot is realized. Furthermore, the simulation of path planning algorithm and the real-time display of the running state of each joint of robot is implemented. According to the manual of MENTOR robot, the control scheduling of MENTOR robot is achieved and the formulae between the angle of robot joints and the input value of robot are deduced. In addition, DLL for visiting I/O port is developed based on VC++ 6. 0, so that the ISA bus board can be read and written and the MENTOR robot can be controlled. Because of the limitation of the control scheduling of MENTOR robot, multi-threading is introduced in the articleand the real-time control of robot is realized.-...