Servo System Design Of A Two-Arm Teaching SCARA Manipulator Based On Model

Open architecture control based on Single processor has been becoming the essential requirement for modern robotic control system. Old architecture which use proprietary language and CPU has changed into open architecture with many traits such as popularity, real time, multitask, modularization, human-machine interface, network, etc.With the development of processor, PC becomes the first choice of the control kernel of robot, for its normative configuration, reasonable structure and excellent performance-price ratio. For robot controller based on PC, the framework of software is the most important. It has friendly human-machine interface, and is real time, multitask and open architecture. The paper introduces a develop method of a Two-Arm SCARA Manipulator servo system based on Windows NT+RTX.In order to determine work area of the manipulator and guarantee feasibility of the motion of it, the paper firstly goes on with analysis of kinematics on it and carries through computer simulation. Visual C++6.0 is used to develop the system, with an aim of realizing the combine of the simulation and the manipulator motion according to it.Secondly the servo system architecture of the manipulator is discussed. Hardware of the system consists of PC, hardware control box and the manipulator. "PC+control cards" based platform is adopted, and control cards consists of I/O card, D/A card and data acquisition card. Windows NT+RTX platform is used to develop the system, and all the function of the system is implemented on the platform. Software of the system consists of human-machine interface, communication layer in Win32, communication layer in RTSS and motion control layer. Human-machine interface and communication layer in Win32 are realized in Win32 sub system; Communication layer in RTSS and motion control layer are realized in RTSS sub system which is real time. Share memory method is brought forward to solve the communication problem between the two sub systems. Servo control is implemented in motion control layer, modeling of servo system and control algorithms are discussed, the corresponding results are given and the performance of real time is analyzed. The implement of the system indicates that Windows NT+RTX platform is able to full fill real time of servo system, and the development of servo system of the robot is feasible.