Research On Six Degree Of Freedom Robot Control System Based On Quantum Framework

With the increasing of the degree of automation about production lines in factory and the rapid development of the computer technology, the industrial robots are more widely used in the machining industry. At present, most domestic manufacturers take the control method which combines the traditional industry PC with the control card of multi axis motion in the design of the robot control system, meanwhile control system are mostly based on Windows system or the independent development system, which brings about high hardware costs of system and power consumption, even low development of system and reconfiguration.First of all,this paper studies the status and trend of development about the industrial robot and its control system at home and abroad. Secondly, does some analysis and research on the six degrees of freedom robot’s kinematics and trajectory planning,providing a theoretical basis for robot simulation module. Then, has some research and design on the hardware and software of the control system about six degrees of freedom robot. Combining the embedded design platform with the design in control systems of robots in terms of hardware, which reduces the cost of system hardware and increases the flexibility of system. Besides, introduces programming idea of the quantum framework in software design of control systems about robots. Combining the quantum framework with the concept of oriented activity object, and according to real-time requirement of operating system, basing on the events driven and the active object, it achieves the package of system in a higher level, and solves the coupled problem about the control software of robots and the operating system effectively. At the same time, it makes less coupling between the modules of system, and strengthens the development and reliability of system.Finally, on this basis, develops the control system with six degree of freedom based on the framework of quantum, and has the debugging and confirmation of theory and systems effects with an example of the HMI module in control system.