Research And Design Of Open Algorithm Platform Based On PJR-2X Shotcrete Robot

This dissertation discussed the domestic and international market demand and the development of shotcrete robot. Elaborated the structure and principle of PJR-2X shotcrete robot developed by robot research center of Shandong University of Science and Technology. To its control system's specialization and closed system structure, we transform the open algorithm platform of the small shotcrete robot, designing control algorithm of the controller as a single module, controlled detected by PC.In order to realize the open control algorithm of the shotcrete robot, this subject regards PJR-2X shotcrete robot as employ carriers. Study the control system which is designed for PJR-2X shotcrete robot again, including manipulator, the direct controller and PC which joining communication of both sides and realizing the open control algorithm. This system has merged robotics, control technology and serial communication technology based on Visual Basic. According to manipulator, the direct controller and PC confidential function that realize, we have proved the design plan separately for manipulator, direct controller and the open system of PC, introduced the design of the open algorithm platform especially. This system has strengthened dependability, stability and flexibility of the small-scale shotcrete robot to a great extent.To the designs of manipulator and controller, we adopt C8051F020 single chip application system, developing software and debugging in Silicon Laboratories IDE integrated development environment based on Keil u Vision2. This paper introduces the principle and application of the C8051F series single chip briefly and describes the hardware circuit structure of the manipulator, the proportion control circuit structure of valve of the direct controller and switch valve control circuit structure in detail.To design the open control algorithm platform of PC, we using Visual Basic develop the open control algorithm platform. This paper mainly introduce the application of Visual Basic serial communication technology which makes manipulator, the direct controller and PC for tripartite communication. We programme the control algorithm with VB, modify the control parameter in PC directly and controlled with PC. We make experiments with new PID control algorithm.Opening the control algorithm can make the users change the lower position control algorithm in real time. It is important for studying and applying the control algorithms of robots.