Research Of PUMA560 Robot Control System Based On Open Architecture

Robot technique is the key componen of automatic production and has been widely applied in every industry or trade. With the rapid development of computer technique and control method, not only the application adaptability of robot technique has been greatly widened, but has had a deepgoing influence on the performance and the structure of control system. That robot control system changed from close to open is becoming a trend.This thesis deeply researches on PUMA560 VAL-II controller. On the basis of it the original controller is retrofitted to be an open architecture one with the VAL-n controller instead by PMAC (Programmable Multi-Axies Controller) . The details of retrofitting are discussed here. All method presented in this thesis are verified with experimental PUMA560 robot in our lab. The retrofitted controller is based upon industrial PC and WINDOWS operating system. It breaks through the close architecture of traditional industrial robot and has favourable expandability. It not only possesses the fundamental characteristics of common industrial robot controller, but is an approved control algorithmexperimental platform of robot. The researches are essential both in theory and engineer in robot control engineering.The whole thesis consists of seven sections.Chapter one first briefly states the current application situation and the frontiers of robot technique, then introduces the current development state and the trend of robot controller, especially introduces the lack of current controller, then the concept and advantages of open architecture controller. In the end this chapter points out the possibility of retrofitting PUMA560 robot controller and the subjects of main research work.Chapter two firstly introduces the architecture and characteristics of PUMA560, then the control system of the robot is researched and analyzed and the function of the mainpart of the controller is presented.In chanpter three, the software and hardware of PMAC are researched and analyzed deeply. The retrofitting strategy and step of PUMAS 60 controller are presented.Based on the analyzing of PUMAS 60 controller, chapter four presents the process of retrofitting the original controller to be an open architecture one particularly. At the end of this chapter the relative position of each joint of the robot is calibrated and ascertained.Based on the establish of D-H coordinate system, chapter five presents the kinematics equation of the robot, then gives the reverse kinematics solution according to the knowledge of robot reverse kinematics. And the close solution of each joint variable is gotten.In chapter six, the characteristics of CH language are introduced firstly, then the programes writtien in CH including how to communicate with PMAC, the robot motion control and the initialization of the new control system are presented.Chapter seven presents the summary of this thesis and the probable work in the future.