Research On A Six Degree Industrial Robot And Its Multi Axes Combination Motion Controlling System

Multi-axis control system is widely used in the industry. CNC system and industry robotsystem are all belong to multi-axis control system. Motion controller is constantly upgradingwith the development of electronics and software technology in recent decades. Foreignmotion controller has grown to the sixth generation-PC based motion controller which hasbecomes the market mainstream. Researches on the sixth-generation PC motion controllerhave only just begun, there are still many problems waiting to be studied and solved. Thereconstruction of Windows operation system is a difficult problem while designing motioncontroller. The key technical problems in the domestic research on this issue has not beendetailed and analyzed. Algorithms of motion controller are still stay in the theory lackingimplementation in real motion controller. So motion controller based on PC is a new topicworthy of study. This research will help to shorten our country and abroad in the field ofmotion controller, and promote the development of Chinese industrial automation.In this paper a kind of six degree industrial robot loading six kilogram are designed andmanufactured, and developed a PC-based real-time kernel motion controller. PCI expansioncard based on FPGA hardware circuit are developed. Positive kinematics solution of sixdegree robot, inverse kinematics solution of six degree robot, linear interpolation and circularinterpolation algorithm is studied. These algorithms and animation simulation areimplemented in the motion controller. Finally the robot and corresponded motion controllerwere tested.The experimental results show that "Windows+interrupt real-time kernel architecture"designed and proposed in the project is correct and feasible. Motion controller designed bythis architecture can successfully control the six-axis industrial robot. The robot’s linearmotion precision test and repeat positioning accuracy tests have achieved good results. Thereal-time also get actual verification in comprehensive test. The control algorithm designed inthis project is simple and efficient. It successfully controls the industry robot and it also canbe used for real-time motion control of the multi-axis motion control system.The motion controlled designed in this paper is based on PC hardware, Windowsoperation and interrupt real-time kernel. Motion control algorithm is realized in Windowssoftware. The prototype test shows that the framework is really practical, and can be used inthe industrial control.The successful design of the PC and Windows based controller provides a new architecture about motion controller which will promote the diversification of our motioncontroller technology, and enhance the competitiveness of domain brands.