Research Of 6-DOF Robot Motion Control Based On DMC

The robot control system can use open architecture to expand and alert function, makebetter the performance of robot. Modularization design provides the convenience ofinstallation and maintenance and better functional reliability. The thesis design and research aSix-Degree-Of-Freedom Robot based on a DMC controller card and IPC by use of the openarchitecture and modularization.Bi-microprocessor control and module structure designmethod is applied in the robot control system. The lower level DMC-2183 is employed torealize position servo control of every joint and coordinate all joints, while the higher levelIPC is in charge of system management and motion trajectory planning.Fistly, the technique of kinematics modeling, the solving of the forward kinematics andinverse kinematics of are introduced on the basis of the full analysis of the mechanical systemof Six-Degree-Of-Freedom Robot. This paper mainly studied the trajectory of robot inCartesian space, including spatial straight-line, spatial circular arc and B-spline curve.Secondly, the open hardware architecture based on the IPC and DMC controller card isaccepted by full analysis of DMC-2183 controller card`s specialty. At the same time ,theSix-Degree-Of-Freedom Robot software system based on WindowsXP operating system isdeveloped by means of the object-oriented method integrated with the C++ language. It ismainly expressed that the achivement of trajectory planning, the model ofTeching-Playing,and multithreading.Lastly, the paper uses C++ to complile the trajectory planning algorithms above, andconducts the trajectory planning simulation using MATLAB. Validate those trajectoryplanning algorithms on the Six-Degree-Of-Freedom Robot.The robot trajectory planningmotion is completed successfully. This kind of robot control system runs smoothly and hasexcellent open and expandable ability in real practice.