The Design And Fault Detection Of Dual-arm Robot Controller

With the expanding breadth and the deepening depth that the human explored universeand nature, along with unceasing progress of scientific and technological level, the robotplayed an irreplaceable role in helping people to accomplish the above tasks, which provideda practical application platform for the rapid development of the robot. At the same timewhich put forward higher request to the development of robot. To a certain extent, the robot’scontroller as the "nerve center" of the robot determined the development level of the robot. Alot of robot’s controller, their defect was to modify and upgrade. Aimed at this situation, thispaper adopted design thought of modular structure and open control mode, developed aheterogeneous multi-core dual-arm robot programmable automation controllerIn order to solve the problem of Action implementation of dual-arm robot, we mustdesign the dual-arm robot prototype. Due to the robot physical prototype developed muchlater than controller development, which can cause the development of the robot controllerinefficient. In view of the situation, this paper designed a dual-arm robot structure andestablished prototype model, and the prototype model was carried on the preliminarykinematics and dynamics simulation and analysis, the reliability and effectiveness of dual-armrobot arms movement was verified.The overall architecture of the dual-arm robot controller was mainly designed, Especiallythe following hardware were designed.they are dual-arm robot controller of the digital I/Oboard and three pieces of the digital I/O expansion board, custom enhanced SPI bus,communication device and synchronous debugging of the bus power supply backplane anddigital I/O of the motherboard with a separate support distributed control or real-time controlfield bus and RS485serial communication interface, USB, JTAG debug interface, used inasynchronous communication the USART universal serial data bus and power suppliedmodule, and the software of the digital I/O was designed, also the PC user interfaceof thedual-arm robot controller was developed with C#, which made users more convenient, andoperated the controller quickly.In order to ensure the reliability of the operation of the robot control system, The faultdetection of the dual-arm robot controller was proposed, the overall architecture wasestablished, and the LCR as key parts in fault detection system was studied, especially theLCR measuring principle and each part was carried on the detailed research, finally the PCuser interfacewas of the fault detection system based on LabVIEW was set up.