The Study Of Open Architecture Robot's Motion Control Based On Pmac Controller

Robot technologies have been widely used in various sectors and it has become a key component of the automation production. The rapid development of computer technology and control methods have greatly expanded the flexible application of robot technology, and it also have created a very profound impact on the performance of the control system,the system's structure and so on. The robot control system from closed to open is becoming one kind of trend to the outside world. This paper is about the open structure of the robot to adapt to the development of robot control system.In this paper, at first it introduces the current situation of robot technologies in China and at abroad, according to the existing problems, this paper proposed the establishment of open architecture robot control system, and detailed analysis of the realization of the control system involved in key technologies.After having analysed the robotic system of open type structure characteristic, this paper applied a widely used PMAC (Programmable Multi-Axies Controller) as its controller, and put it in the core of the open structure robot system. Based on the above, the paper then studied the hardware and software on the open platform, and realized the system ultimately. By the software package in the PMAC and VC development platform, the paper programmed control software and carried out the systematic interposition and debugging behind accomplishing all hardware installation with PMAC.Then the kinematics model and inverse kinematics model of the robot is established based on D-H method, the solution process of the inverse kinematics equation is explained. Second, the construction principle and the characteristic of the cubic uniform B-spline curve are analyzed, the joint space trajectory planning algorithm of the robot based on B-spline curve is designed, the characteristic of the joint space trajectory planning and the cartesian space trajectory planning are compared. Then in the joint space path planning, the paper compared the advantages and disadvantages of polynomial curve and B-spline curves trajectory planning, ultimately, determined the trajectory planning method.According to the path and trajectory planning method which is determinded, through the Matlab software, trajectory planning and the motion control algorithm of the modular robot are simulated. The simulation results demonstrated that the trajectory planning proposed in this paper has advantages of high-control accuracy and strong adaptability. The actual campaign of the mechanical arm has proved the feasibility of open architecture. Finally, the feasible design conclusion is gived.