An Open-architecture Industrial Robot Contorl System And Motion Planning

In1954, the first electronic programmable robot was invented in the U.S.A. Upto now, there are plenty of famous companies manufacturing industrial robots such asKUKA, YASKAWA, ABB, FANUC, STAUBLI and so on. However, industrial controlarchitectures are rarely open in either hardware or software. As users or systemmanagers demand access to change or add certain module of the system more and moreoften, the limitation of traditional closed architectures for robot control systemsbecomes increasingly evident. Hence, in this paper, an open-architecture robot controlsystem is presented. Both the hardware architecture and the software architecture arediscussed. Then the robot control system is applied to6-DoF industrial robot as anexample. The hardware system including mechanical part and electrical part areestablished. The software is designed by the whole team and my main contribution isthe designing of the layer of motion and HMI.First, some typical issues are discussed including singular points and kinematicmodel. Then some innovative algorithms in motion planning are introduced. Quaternionand spherical linear interpolation are applied to replace the traditional methods inorientation planning. Using this algorithm we can get a smooth rotation with constantangular velocity through linear interpolation, and at the same time the problem such asgimbal lock and data redundancy can be avoided. The velocity filter is a general methodof velocity planning. It has significant advantages over the traditional velocity planningalgorithm using polynomial interpolation. Since the velocity and profile planning aregenerated on-line, the velocity, acceleration and the target position can be changed atanytime and it is guaranteed that the velocity remains second-order differentiable andno overshoot occurs.The major key contribution of my thesis is that by discussing an open-architucture industrial robot control system and efficient motion planning algorithms, itcan provide some ideas to solve the problems in the development process of domesticindustrial robots.