Research On The PC Control System Of A Playback Teaching Robot

This paper introduced the computer control system of a five degree of freedom Teach-Robot under the circumstance of Borland C++Builder5.0, including serial communication between PC and hypogenous microcomputers, the kinematics analyses and computer simulation.Firstly, in this paper, through PC controlling the robot can be taught one time but be played back exactly for many times. The computer control system makes the serial communication between PC and microcomputers by the linking of RS-232, including user operating interface, communication protocols, the realization of communication function and serial hardware. With the guarantee of the serial working in gear, PC could send command or data to microcomputers through user operating interface, which makes the operation easy and convenient.Secondly, the kinematics models of Teach-Robot are introduced concisely, mathematics model of reaching space are obtained. On this foundation, the movement process of the component parts and the manipulator's reaching space are simulated, which provides the theoretic basis of optimization controlling of the manipulator.Lastly, experiments proved that the robot can run smoothly and the PC control system has high control precision, which is good enough for teaching.