Research And Development On Controlling System Algorithm Of Six-Axis Series Maniplator Based On LabVIEW

With the development of technology,labor costs continue to rising. The industrial robots due to its fast,stable quality,high efficiency,resistance fatigue, it can be engaged in hazardous word and other characteristics.lt has been widely used in medical,industrial,military and other industry,it also plays an increasingly important role.Study object of this topic is the industrical robots control system, this paper mainly study kinematics algorithm and trajectory planning algorithms of the control system.On the basis of the algorithm implementation and simulation,this paper test the algorithm based on the model robot,after it,test the kinematics and trajectory planning based on the SIASUN industrical robot.Main research work of this paper is outlined an following:In the second chapter,the basis algorithm of the control system as a starting point,this chapter included the mathematical model of the robot,kinematics algorithms and trajectory planning algorithms.Firstly, the mathematical model of the robot is illuminated, including:the method of spatial pose describes and D-H model rules. Secondly, the mathematical model of the robot is analyzed, including:forward kinematics and inverse kinematics principles.Finally, the robot trajectory planning principles s analyzed,including:linear,arcs,NURBS location plan in workspace,the attitude plan based quaternion and trajectory planning in the joint workspace.In the third chapter,the physical test of the six-axis model robot is researched.First, according to the functions of the model robot system, it can be divided the following modules:the algorithm and simulation module of the PC,DSP control module and drive module of the robot body.In the PC module,the line-arc algorithm and the motion simulation,the NURBS curves algorithm and simulation tests based on Lab VIEW and Matlab are introduced.Then, the design and implementation methods of each module are introduced, focusing on core technical issues.Finally, all functional modules of the model robot are integrated,it is integration testing,and gives the test results.In the forth chapter,the test of SIASUN industrical robot is introduced.First,the SIASUN robot system is illuminated,the developed control system is proposed,the existing control system proposed conversion program,after modificated, the basis testing is done.Building the3D simulation environment of the SIASUN robot based on LabVIEW,the forward and inverse kinematics simulation test are tested,it laid the foundation of the entity controls. Then,a single-axis servo system as the research object,its single/mutil axis control based on googol control card are tested,it put the foundation for the entity control.Finally,The SIASUN robot is the development object,its single-multi axis control based on googol control card are tested,the trajectory planning is tested based on it.