The Study And Realization Of An Open Structure Robot Control System

With the development of science and technology robot is widely applied in many ways as an important part of automation production. This paper is focused on the design problem of open structure robot controller. The summary of robots and the deadly disadvantage of old robot controller is reviewed, and the conception, function and characteristic of open structure robot controller is analyzed at first, so the hardware composition of robot control system is set down. Then six-axis KLD-600 robot kinematics model and inverse kinematics model is set up through D-H method. After that robot trajectory planning method is discussed from joint space and Cartesian space respectively. Finally an open structure robot control system based on PMAC is designed.Bi-microprocessor control and module structure design method is applied in the robot control system, and the lower level PMAC (Programmable Multi-Axis Controller) is employed to realize position servo control of every joint and coordinate all joints, while the higher level IPC (Industrial Personal Computer) is in charge of system management and motion trajectory planning. The current, velocity and position three close loop control way is applied in the robot joint control, and multi-joint coordination control is accomplished by programming robot motion program and claw PLC program. The communication of higher level and lower level is achieved by Pcomm32 dynamic library. The module control software is devised based on robot kinematics and inverse kinematics model and trajectory planning method, and safety check, parameter set, kinematics analysis and teach and playback functions are realized, and a robot haulage object experiment is completed sucessfully. This kind of robot control system runs smoothly and has excellent open and expandable ability in real practice.