Study Of The PC+DSP Based Open Architecture Control System Of Robotic Manipulator And Its Applications

One of the development trends of agricultural machinery is intelligentized in this century. The property of agricultural robot,the research development and the application were analyzed in this paper. High cost and low intelligence were the two main problems affect the application of agricultural robot. Therefore,the agricultural robot with open architecture was proposed to solve these problems. Developing the open architecture controller for robot system and controlling the PUMA560 robot with the new open architecture controller were the main target in this paper. The main contents of this paper are as follows:1. The definition of open architecture controller for robot was introduced,and on the base of the analysis of three criterions,OS AC A,OMAC and OS EC,the requirements of hardware and software of robot controller with open architecture was summarized. Several current realization modes of open architecture controller were also discussed in this paper. The PC+DSP mode was adopted to develop the open architecture controller for robot with PMAC and IPC.2. Real-time and independence are the main requirements of control soft operation system. Linux OS with open source codes satisfies the Posix criterion,but its timesharing mechanism should be converted to real-time. RT-LINUX is the real-time extending kernel for Linux OS. The test of real-time performance of RT-LINUX proved that it satisfies the requirements of open architecture controller.3. The soft platform (operate system) of the open architecture controller for robot with PC+DSP mode was RT-LINUX,because of its open source code and its real-time performance. The PMAC device driver for RT-LINUX was programmed for the communications between PMAC and RT-LINUX,and the integration control software was developed.4. Controlling PUMA560 robot with the new open architecture controller. The control strategy was that:the new controller,made up of PMAC and IPC,uses thepower amplifier of the former system. The new system could not affect the former system. The two systems could alternate by switch. Having comprehended the PUMA560 robot and its controller system in detail,transmit paths of feedback signal and control signal were found out. Thus,optimal positions of extract feedback signal and control signal could be determined clearly. With three steps:cut-off LSI-11,extract feedback signals and add control signals,the open architecture controller for PUMA560 robot was realized. The new system has the open architecture properties.5. The C-space properties of obstacle in workspace were analyzed,and the last algorithm for C-space transform was brought out. With the simulation of path planning,the conclusion could be drawn out:A* algorithm is extremely fast and gives excellent paths in static environment;neural network is better under the dynamic environment.