Research Of Robot Motion Control Based On IPC

The paper focuses on designing drivers program, and the design and realization of 3D motion of robot.Firstly, the thesis presents the kinematics and inverse kinematics ,and on the basis of the analysis of kinematics .the thesis explains the method and realization of path planning in both joint coordinate and Descartes coordinate.Secondly, the emphasis is placed on designing drivers program. On the basis of introducing Win2000 component and the frame of WDM driver program, The thesis presents some key technique of driver program development of A/D etc cards with DriverStudio, such as: ISA bus cards'resources allocation, interrupt ,data synchronous transmission and the correspondence between driver program and application etc. And the thesis provides some experiment results of cards and cards'driver program.Thirdly, the thesis introduces the total structure of system software, and the function and designing of each part.Lastly, the effective method of motion simulation with OpenGL for a robot was presented. The thesis mainly presents the construction of robot 3D model and the realization of 3D animation, and discusses of dealing with which there was no solution in the middle of motion path point.