Development Of Six Degrees Of Freedom Open Robot Control System Based On CPAC

In the process of exploration and study of robotics, development and research on the robot control system has been a focal point. Closed structures are adopted in many robot control systems nowadays, such as, a dedicated PC is used as the master host computer in some systems; and a dedicated microprocessor is used in another systems with control algorithms curing in the EPROM (Erasable Programmable Read Only Memory), etc. Such control systems lack corresponding openness, and it’s not convenient for us to improve the control system. Therefore, research on the robot control system with an open structure has a strong practical significance. At the same time, open robot control system will be a development trend of the robot control system, many developed countries in the world have competed fiercely in the field. In this paper, six-degree-of-freedom robot control system are researched and developed based on CPAC(Computerized Programmable Automation Controller) and PC. The research work includes:(1) Introduce the structural system of the six degrees of freedom manipulator briefly and use the D-H rule to establish the kinematic model of the robot. On this basis, Forward and Inverse kinematics of the robot are researched and verified.(2) Set up the hardware platform of CPAC involved in the six degrees of freedom robot control system based on the control core of GUC-800series motion controller. Design the robot control system, and it concludes four modules, which are human-machine interface module, motion control module, file processing module, and information feedback module.(3) Introduce the main interface of robot control system, and make a brief description on the functions and operations of main modules in the interface. On this basis, present the main operation process of the robot control system.Based on the studies above, six-degree robot control system with basic functions is developed based on hardware and software platforms of CPAC. The system provides a wide open, scalable six-degree robot control system platform, so it is convenient for us to extend the robot’s functions, which can be applied to a variety of research and development projects.