The Research Of AS-MRobot Robot's Movement Control Based On MSRS

Robot control system is main part of robot information process and control. With the widely used in all fields, robot has become an common appliance in life and manufacture system. Oriented to non-manufactured advanced robot's research, development and application is one of the most development direction in 21st century, thence it is necessary to create a new software development environment package which is designed as a software development system platform for robot industry community. In this paper, I will propose a software system to compliment AS-MRobot's movement control based on Microsoft Robotics Studio (MSRS) platform.AS-MRobot robot is a kind of modular multi-DOF robot, and its movement control is built on the CAN-bus distributed control based on MSRS platform. In this paper, firstly, I introduce some core technology of MSRS platform. In order to achieve synergistically with multi-node and reusable functions of control platform system, I deeply study the Concurrency and Coordination Runtime (CCR) and Decentralized Software Services (DSS); Secondly, I detailed analyze the kinematics of a AS-MRobot robot with three degree of freedom, calculate this robot's solution of forward and inverse kinematics, then research trajectory planning of the robot; Finally, under the above analysis,I design the robot control system based on MSRS platform and AS-MRobot API. According to the requirement of control tasks, on the distributed control system of MSRS platform, I generate real-timely planning task data of joint-shafts via programming and managing series of API and through the data transmission send these data to the bottom motion controller to control the joints'rotation of the AS-MRobot.