Development Of Human-computer Interface For Parallel Robot Control System Based On PMAC

Controller is one Core of the system in the robot, its performance and architecture enormous impact on the robot. With the rapid development of industrial production and the extensive development of robotics, robot control systems have become increasingly demanding open, more and more urgent.Robot Is an automated, position control, with multi-function manipulator programming capabilities, the operating function with programmable operation processing materials, parts, tools and special equipment to perform various tasks.The traditional structure of the robot system uses a special controller closed, and the host computer using a proprietary operating system, using a dedicated microprocessor and curing of the control algorithm. Such openness and integration of the robot was low, the cost of system transformation is very expensive. The type of robot has been difficult to meet the industrial and research requirements on the openness of the robot. Therefore, the open robot controller technology came into being.Motion controller is the central logic controller as the core, the signal-sensitive sensor components to power devices (such as motors), and the execution unit for the control of a control device object. The main task of the motion controller is based on operational needs and the sensor signals received by a certain logical or mathematical operation, the motor or other power unit to provide the correct control signal.PMAC (Programmable Multiple-Axis Controller) is a United States Delta Tau product in open architecture on the development of a standard PC platform based on the programmable multi-axis motion controller, which provides Motion control, housekeeping, discrete control and communication with the host computer's basic digital control functions.In this paper, the parallel robot system based on PMAC is studied from the development of the technology research, including basic techniques of parallel robot, open concept and classification of motion controllers and programmable multi-axis motion control card, software and hardware system structure and function and Development process. Based on the analysis of the design of the control system's overall control scheme, in this based on the hardware system design, and related hardware are analyzed, and gives detailed installation PMAC program debugging process. PMAC-based parallel robot control system PC software system design, including system architecture design, functional module analysis, as well as specific functional module development process.The paper uses PMAC motion control system to set up parallel institutions, belongs to PC+motion control card structure control systems, system functions from the PC host computer and shared the next bit from the control card, which adopts industrial control computer as a PC host computer, component by commercial standardized modules; to multi-axis motion controller PMAC for the system from the machine, the host computer and system integration from the machine constitute a master-slave distributed architecture system. The architecture can be more fully utilized in the calculation of the host computer and processing power, resulting in improved efficiency in the use of system resources.In software systems, PC application software's main task is the background for the whole control system management and management of human-computer interaction, real-time scheduler is not very strong to complete the task, for the interpolation calculation, the servo loop update, the position calculation is completed by the next crew. This complete system in the PC main parameter initialization, human-computer interface interaction, robot posture and trajectory simulation of real-time display contrast and other functions.