Design And Implementation Of Software System Of Six-DOF Serial Manipulator Control System

The software system is designed for the control system of the manipulator. The dissertation finishes the work of requirement analysis, overall design and realization, detailed design and realization, programming and debugging. The six-DOF serial robot manipulator mainly completes the task of SG heat exchanger tubes pipe plugging. And eccentric tool is set at the end of the manipulator.The requirements of the manipulator including operational requirement, consumers' requirement, functional requirement and non-functional requirement are analyzed and described in detail according the idea of requirement analysis from the software engineering, and then functions and targets of the system are decided.The key techniques of the software system are analyzed , the design method and the developing platform of the software have been selected. We did the modeling of this software system, confirmed every part of this software system, confirmed the function and the relation of all the partitions.Each module of the monitor software is design and realized. The kinematic solution, the inverse kinematic solution, the Algorithm of collision detection are described. We used OpenGL to create the 3D modeling of movement of the manipulator. With the basic of this work we finished the 3D modeling of SG, manipulator, and boost device. We designed and realized a CAN communication module. And the CAN communication method is established. After this we designed the software interface.Each module of the servo system software is design and realized. The joint controlling module realizes the position control and the speed control of the joint. We adopt software method of combination of the coarse and fine angle of a multi-pole resolver to get the joint angle and adopt nonlinearity compensation to compensate the measuring error of the resolver. The communication way has been determined.The dissertation gives the debugging result of the software of the control system and the repairing result of the steam generator model body in practice. The error analysis of joint controlling is presented.The method and Algorithm presented in the dissertation has been proved in practice. The practical result has proved the practicality of the software of the control system.