Research Of Teaching Robot Controller Based On Intelligent Control

With the new control algorithm application and electronic technology development,robot is going toward high speed,high accuracy,opening,intelligentize and network.It also sets a higher request of the motion control system.If the robots are wanted to realise high speed,high accuracy position and path track control,it must rely on advanced kinematics solution method and good motion control system.The analog realization in control policy will gradually withdraw from the historical arena,while the digital controller are developped rapidly , such as microprocessor , general computer , DSP controller.It is to say that the total digital intelligent control system with the advanced algorithm will become the development direction in the new generation motion control.This paper first introduced the research dynamic of the Kinematics counter solution of the robot , application and development of industry robot controller,then giving the goal and significance of this topic based on analyzing the present robot's research situation in domestic and foreign.Secondly,this paper introduced the main body structure and the parameters of the SCARA robot and established the D-H coordinate system.Meanwhile it analyzed the robot's inverse and adverse kinematics solution,especially the inverse kinematics solution.In this essay,the quite popular neural network RBF are applied into the robot adverse kinematics solution which improved the former method of the robot adverse kinematics solution.At last,comparing kinds of control plans and chips , the two floor robot servo-control plan of PC and DSP is determined.In this plan,DSP movement controller and servo driver is the lower floor and PC machine is the robot higher servo-control system.TI corporation's TMS320LF2407 movement control card is chose to be the core of DSP,besides that other peripheral circuits are designed,such as reset and clock circuit,serial communication connection,ADC circuit,signal isolating circuit.