| Control technology is the core among many key technologies of robot andinfluences overall performance of the robot greatly. In this dissertation, a novel fullcircle rotational3-DOF parallel robot is taken into research, hardware platform ofopen CNC system is established for it, practical control functions are developed,trajectory in operating space is planned and robot kinematics calibration softwarecompensation module is integrated into the system. The following contributions havebeen made:Open CNC system hardware of the parallel robot is established based on PC andDSP motion controller, which constitutes two-stage control mode and realizesaccurate motion control. Designs of control circuit, interface, I/O isolation circuit andoperation panel of the control cabinet have been finished.LabVIEW and NI Motion are used to develop system software. Core andpractical functions as finding home, single-step and continuous operation, microadjustment, collision avoidance and errors compensation are achieved. Friendlyoperation interface is developed and robot kinematics calibration module is integratedinto the software. All of these lay the foundation of robot practical applications.Robot’s inverse position, velocity and acceleration models are derived, rigidbody inverse dynamics model of the robot is achieved by using the principle of virtualwork. Based upon these models, modified trapezoidal rule is utilized to plan operatingspace trajectory that is used for motion control successfully. |
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