Research On Embedded Control System Of 6-DOF Serial Robots

6-DOF serial robots have been used widely in industry to replace man to do the repeated and dangerous works.With the development of technology of robots,robot control system is becoming smaller,more integrated and intelligent.This paper is going to implement a kind of control system for 6-DOF serial robots,which is based on embedded system.The control system contains controller for controlling and teaching-box for interface of human-computer.Firstly,a 6-DOF robot is taken as an example to establish the D-H model.The trajectories of line and arc are planned in task space,and posture of robots is also planed based on unit quaternion.Quintic B-spline curve is used to generate joint trajectories.To find the optimal trajectory for time in joint space,an adaptive genetic algorithm is proposed.And then,software and hardware platform of robot controller is built based on S3C6410 chip and Linux.To improve real time of controller,the RT-Preempt patch is used for Linux.The EtherCAT master communication protocol for controller is established in Linux kernel based on open source framework of IgH EtherCAT Master for Linux.And the functional modules of controller are also developed such as motion control,communication trough serial port and EtherCAT,and so on.Next,S3C6410 chip and Linux are also used to build software and hardware platform of teaching-box.The GUI of teaching-box is developed based on Qt,and the interpreter of robot language is designed.In order to ensure the stability of the serial communication between the teaching-box and the controller,the heartbeat mechanism of the communication is established.Finally,to test the function of the control system,the testing platform is established.The experimental results show that the control system based on embedded system designed in this paper can meet requirement of control for 6-DOF robot.