Robot Real-Time-Control Research Based On Serial-communication Technology

This paper introduced the computer control system of UP6 robot under t-he circumstance of Visual C++, including the serial-communication, the kinematics analyses and computer simulation. Firstly, in this paper, the robot can be controlled through PC. The computer control system makes the serial communication between PC and microcomputers by the linking of RS-232C. In this paper, multi-thread programming technology has been successfully used during the programming process and all kinds of movement modules have been encapsulated as the transplantable parts for the further research. Secondly, the control system is easy and convenient to operate and can control UP6 successfully during the test process and can realize recording the motion as video at the same time. Moreover, robot can be run in the step-by-step mode and new functions are realized to manipulate UP6 robot. Thirdly, in this paper, the kinematics and geometry models of UP6 are introduced concisely. On the foundation of the VP(virtual prototype) technology, the robot movement process and movement route are simulated, which provide the theoretic basis of optimization controlling of the manipulator. Lastly, experiments proved that the software system run smoothly and the successful completion of this paper provides good basis for the further study.