Research Of Robot Core Control Algorithm Based On LinuxCNC

Industrial robots work in a structured industrial environment,improve productionefficiency and working condition and realize industrial automation. At present, theindustrial robot has been widely applied in automobile, electronic, informationproducts and other modern manufacturing industry. Industrial robots will play anindispensable role in China as a manufacturing country which is in the process to bea manufacturing power. In order to track the international advanced theory andtechnology level and to serve the domestic manufacturing industry in theapplication,further research on key and common theories and technology of robot hasa very important significance.This paper firstly introduces the research status of industrial robots together withthe present situation of industry to clarify significance of the topic researched.Secondly this paper introduces the LinuxCNC system and focuses on analyzingsoftware architecture,motion controller with related source code，configuration filesand mechanism of back to zero.Finally three robot control algorithms are clarifiedin turn.Based on analyzing working principle of the trajectory planning oflinuxCNC，relative to the traditional cubic polynomial and five times polynomialtrajectory interpolation algorithm, this paper introduces seven times polynomialtrajectory interpolation algorithm with higher continuity,higher convergence and thejerk controlled,derives the spline equation and makes an implementation on theLinuxCNC to meet the requirements of robot recision machining. After analyzingrobot kinematics in detail, this paper establishs rod coordinate system to get D-Hparameters based on PUMA560robot model,derives calculation formulas of robotkinematics,writes independent module of kinematics algorithm on LinuxCNCplatform with3D graphics simulation.In view of the complexity of judgment andcomputing of traditional s-shape acceleration and deceleration control algorithm,thispaper proposes a new S-shape equivalent to T-shape acceleration and decelerationalgorithm,the actual test on the platform proves that the new algorithm can give therobot better flexible acceleration and deceleration feature that could meet therequirement of high speed machining.Based on analysis and study of domestic and foreign industrial robot controltheory,interpolation algorithm of the robot,the kinematics algorithm and theacceleration and deceleration control algorithm are improved and applied to the full software CNC system platform LinuxCNC,which has the vital significance to expandthe application of robot and improve the control performance of NC system.