Virtual Instrumentation Based Control System Design Of TriVariant-A 5-DOF Hybrid Robot

In this thesis, the virtual instrumentation based control system design of anovel 5-DOF reconfigurable hybrid robot---TriVariant is proposed. Utilizing the PCbased motion control, the modularity and hierarchical structure of LabVIEW, thehardware platform and core functions of the software are developed, The followingcreative work has been completed.To enhance the flexibility and expansibility of the control system, the modularand graphic programming technique is employed according to the requirementof the robot system and the functions of the commercially available controller.The inverse and forward position problems of the hybrid robot are formulated.All of the configurations can be found by discussing two sets of differentequations, which solve the problems arisen from the inverse trigonometricfunctions.The Motion I/Os of the controller are redefined to provide the flexibility andsimplify the control panel of the hardware system. The interfaces andconnectors are also designed to integrate the controller, servo drives, motorsand peripheral equipment I/Os into the hardware platform.The core control functions such as HOME, STEP, RUN, JOG, etc. aredeveloped based on the FlexMotion software package using LabVIEW.Notification and event structure programming technique is employed in theinstant communications between the core functions and the controls, indicatorsof the control panel to lower the occupating coefficient of CPU and enhancethe reliability of the software system.