Research On The Experiment Of Cobot Control System

Collaborative robot, cobot for short, is a new type robot which works with the operators in a same workspace.It inherits high operation precision and strong carrying capacity of the tradition industry robot and brings the operators' specialities such as intelligence , esthesia, tactile and flexibility,which makes the robot and operators cooperate to become possibility within the same workspace.Cobot not only reduces labourer's intensity, but also improves efficacy . The cobot technology is extensive used in the field of intelligence power-assistance school assignment equipment, surgery in medical treatment, suppositional real, on-the-spot feeling technology and daily life etc.The paper emphasizes on the research of the Nonholonomic constraint transmission(NCT),the design of the hardware circuit needed by cobot and introduces the controls strategy of cobot.In the paper the prototype of cobot is built. The concrete research is as following:According to the theory of virtual constraint, the NCT based on two transcend clutch is researched. The paper study work mode of cobot.The hardware circuit,including main control ciucuit, based on microcomputer and power drive circuit based on H-bridge, needed by cobot is designed.It accomplishes software programming of MC and extracts communication protocol with PC and MCAt the same time ,it accomplishes basic program module of PC,such as initializing module, communicating module.Tht experimental study of cobot is completed based on dSPACE simulation platform og hard on loop. Experiment results indicate that the machinery and control system of cobot reach the design request. At last the feasibility of cobot's control strategy is verified .