| Multifunctional robot manipulator not only can be used to attain the experimental studiesbased on driving robot but also based on under-actuated robot. The functional conversionbetween drive robot and under-actuated robot is simple and convenient, through installing anddischarging the drive. But the developed software about robotic system is not much, so it isnecessary to develop by ourselves the experimental platform software that can achieveconversion between drive and under-actuated robot intelligent control system. In this paper,four DOF multifunctional manipulator which made in googoltech as an experimental platform,the robot which has four joints in series, can achieve two mode between single-axis jog andmulti-axis motion. It mainly used for experimental studying that dynamics affect for robotstructure is leading on the different control algorithms. This article consist of softwarerequirement analysis, design and implementation of the software architecture and modules,software testing.First, according to the principles of software requirements analysis, the detailed descriptionand analysis based on three different levels of software requirements brings us the demand ofthe software which you want to develop and provides a theoretical basis for the design of theglobal architecture and localized modular software.After research and literature references, there are three serious problems about timing, thread,mixed programming need to be solved. Multi-threading technology, high-precision timingtechnology, component technology are used to overcome those difficulties. The environmentof system hardware, software development tools and development platforms are determined.This software is divided into modules. And the function of each module is determined so thatthe software architecture and data flow can be designed.Then the functions of the modules which are divided well are designed and implemented.First, a dynamic model of2R manipulator can be established, an inverse kinematics algorithmcan be given, design and implementation of system modeling module is completed; Secondly,according to PID control and fuzzy control theory, fuzzy controller based on fuzzy PIDcontrol is designed and the control simulation module is achieved; what’s more, this paperdescribes the COM components’ configuration and generation module, achieves the mixedprogramming, and attains the component modules; finally, between Via GT400library seriesthis paper completed the design and implementation of communication module between thehost and the motion controller.Finally, the UI design and function module implement is described in detail. After running the test, provides a report about the control system software for analysis. Together with controlsystem experimental platform software and control system hardware make the robot run welland complete the task.The core technology and fuzzy PID control algorithm which are proposed in this paper can beachieved in the intelligent control system experimental platform. The software can be used forpractical multi-function four DOF manipulator control and the rationality and accuracy offuzzy PID control algorithm can be verified. |
PDF Full Text Request