The Pure-software Open Industrial Robot Control System Based On SMP Engine

With the development of science and technology, robot technology has been growing a wide range of applications in various sectors and become an integral part of automated production. On the research of robot control system, most of the traditional controller use close-architecture, dedicated microprocessor and control algorithm are fixed in the EPROM. Today, more and more manufacturers bagan to study open-architecture of robot control system. Open-architecture robot control system has high scalability in both hardware and software. Also, it is convenient to maintenance and upgrade control system. At present, it is the overall trend of controller development. The main object of this paper is to discuss the methods and processes to achieve of the open-architecture industrial robot control system in hardware and software, which is based on pure-software motion control engine.This paper is study of 6-DOF industrial robots. Firstly, analyses the description and Coordinate transformation of the robot coordinate system. Using D-H method to establish the robot kinematic model and spatial coordinates, and, kinematic of inverse solution is done base on this analysis.Secondly, in the control system, using industrial PC and Panasonic RTEX ethernet servo as the platform of the hardware structure. This hardware structure is open-architecture and convenient to maintenance and upgrade. With fully coordinated utilization of the rich resources of industrial PC and powerful processing capabilities of CPU, this system could meet the robot requirements of multi-duties.Finally, choosing the Windows XP operating system expanded by ??-time RTX as the software platform of control system. With the MDK package, finished the secondary development of the SMP-850 engine by Visual Basic program. According to the function requirements of the robot control system, program the software modules such as initialize communication, parameter setting, teaching operation functions etc.This paper achieved an open-architecture industrial robot control system. Various of sensors and embedded software could be easily added to the system to expand the functions of robot. Expanded control system could be applied to different research and project development.