Research On Motion Trajectory Control Technology Of Teaching Robot With 4-DOF

As an important field in researching high technology,robotics is generally paid attention to by governments。It has become an important and indispensable equipment and means in the manufacturing sector and an important symbol measuring a country's technological level of manufacturing industry. With the rapid development and extensive application of robot technology, college has been teaching the technology of the robot. It is an urgent need to researching and developing the teaching robot. In this paper, an open platform for motion control system is build for the teaching robot with 4 degree of freedom. It achieves the robot drawing, writing and other functions.Firstly, the paper introduces the mechanical composition, structure type, drive and transmission of robot and the structure of the robot joints particularly. In order to achieve the desire functions. Some improvements are made to the mechanical structure of holding pen so that it is not away from or lacerates the paper. The workplace of robot is discussed from the geometric properties of the robot's work, Volume index,singular position and dexterity indices of the workspace reflects different aspects of positions and postures. The paper get the flexible working space of robot is got from the robot workspace analysis, and discussed the impact of the length of the connecting rod to it.Kinematic analysis is the basis of achieving the motion control of robot. After the link coordinate systems of the robot are built with the DH method, the paper analyzes the kinematics of teaching robot with 4 degree of freedom and solves the inverse kinematics. In the Matlab/Simulink simulation environment, the kinematics simulation model of teaching robot with 4 degree of freedom is built, Given a plane elliptical trajectory in space, use appropriate interpolation algorithm to achieve trajectory motion control. The results of simulation show that the inverse kinematics of robot is correct. The state of movement of the joints can easily be known through the joint sensors the Inverse kinematics by modifying the parameters of sub-module robot simulation analysis of different length in the same track the movement of the impact of joint movement. The influence of link length can be got by modifying the parameters of link length in inverse kinematics module.Building the motion control system platform of teaching robot with four degree of freedom using the open two hierarchical control system structure. The application of PCI1240 Four axes motion control card of Advantech to direct drive control the joint improves the control system stability, speed and accuracy. Use the single-chip machine as the position and posture feedback of robot and achieve the function with the Host PC's communications by the way of serial communication. On the basis of above investigations, the,the software for control system of teaching robot with 4 degree of freedom on PC has been developed which has achieved the function such as drawing, writing, G code execution, feedback of position and posture . The program for feedback of position and posture is written and the function of communication with Host PC is achieved which provide real-time reference for motion control on Host PC.