| In the past years, the robot technology has been developed greatly and robots have been widely used in the felid of industry, agriculture, service, medical treatment and military affairs. With the development of national economy, our country needs lots of person with ability in robotic. It is very important to cultivate person who have ability to design, produce and maintain robot. This paper has designed a control system of six degree of freedom teaching robot, and the teaching robot performance is tested.The international and domestic development of robot is introduced. The research and development of teaching robot,at home and abroad, is expounded.Considering the characteristic of Teach-Robot, the control system scheme has been designed. The control system is a distributed control system, including PC and AT89C52 microcomputers. The PC communicates with the microcomputers control system by CAN bus.The control system circuit has been designed and includes motion control module based on LM629 microcontroller, motor drive module with LMD18200 H-Bridge and communication module relying mainly on SJA1000 CAN contolller and 82C250 CAN drive. The control system circuit could make position control more precise.This paper has designed control system software, including PC software based on Visual C++ 6.0 and microcomputers software based on C. According to the characterstic of CAN bus, communication protocols have been instituted, and communication system software has been designed. The control system software could control the Teach-Robot in many ways: single joint motion, several joints motion at the same time, teach and playback.The teaching robot experiment system is established. Data communication, joint motion characteristic, teach and playback motion are tested. The results show that this robot runs smoothly, and the control system has high control precision and good teach function. This robot system is good enough for teaching. |
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