Research On Open Architecture Control System Of Industry Robot

Robotics synthesis the newest research results of mechanics , electronics, computer science,automatic control engineering,artificial intelligence,bionics and so on.It represents the most advanced achievements of electromechanics.So robot teaching is important for both education of electromechanics and popularization of robot.Based on Cincinnati T3-746 industry robot , the dissertation designs a well open and economic electromechanical control system,and on this platform develops a series of experiments for teaching.The kinematic and dynamic model of Cincinnati T3-746 is made , and the possible software and hardware scheme are proposed under the demand of real-time and well opening. Then a new hardware scheme:PC+interface board+DSP is determined.According to the robot's drive system and sensors, single axis motion control card is designed . The motion control card contains RS485 communication module, four pwm outputs and resolver-digitial convertor. Then the PCI-485 interface card is designed using XR17D158, and its WDM device driver is developed with DriverStudio.When the robot moving slowly and placidly , its inertia force, centrifugal force and coriolis force can be ignored, so its dynamic performance and stability are determined mainly by its gravity and friction. Thus the gravity and friction of every joint are particluarly analyzed, and then the corresponding compensators are designed. On that basis, the PD controller is designed to complete position control.Finally the point to point experiment is made successfully and thus proved the validity of the hardware and bottom software.