| The industrial robots are mechatronic products which can achieve the similar functionalities to the human hands or arms. With the improvement and popularization of modern industrial technology, industrial robots have been more widely used in the field of industrial production. However, the robots are still not mature enough in the man-machine collaboration, robot safety, moving flexibility, dynamics control and can not meet a variety of requirements when they have been used to improve the production and reduce the labor costs. So the open robot control platform is needed to verify a variety of motion control algorithms for research and development. But the commercialization of industrial robot control system commonly used the closed-end structure, and the user’s own control algorithms are not allowed to be embedded. Therefore, the design of the open control system of vertical 6-DOF industrial robot is proposed. This paper originated from project of Actively Improving the Safety of Robot-arm by Feedback Control of the Force Generated from the Deformation of Viscoelastic Covering, which is supported by the Natural Science Foundation of China. The vertical-six-joint industrial robot is the research object in this paper. And the controlling of movements of them is implemented using PC as the core by building hardware platform and designing software. These lay an experimental foundation for the follow-up tests.Firstly, the forward and inverse kinematics models of the vertical 6-DOF industrial robot are set up. The forward kinematics model is built using D-H method, so the D-H parameters of each joint of the robot are confirmed and the positive solutions of robot kinematics equations are solved. Through the inverse transform method, the complex coupling relationship expressions in the kinematic equations are calculated, and the inverse solutions of the kinematics equations are calculated one by one.Second, the PC+motion controller of master/slave mode is determined as the robot control system mode. The type of motion controller is DMC-2163, which comes from GALIL, American. The general-purpose AC servo MELSERVO-J2-Super series from Mitsubishi are used as the driver of the robot joints. The robot pose information transformation between the different coordinate systems is analyzed. An optimized search algorithm is proposed for the situation that there are multiple sets of closed solutions for robot kinematics inverse solutions. This paper also proposes a method to create a user-defined Cartesian coordinate system so that the users can better locate the position in workspace and plan the movement of the robot. This paper also analyzes the interpolation algorithm in robot trajectory planning, comprehensively implement the position interpolation and gesture interpolation algorithms during interpolation process. The above research contents provide a theoretical algorithm for the software design of the control system.Finally, design the software of the control system according to the specific functions of robot using object-oriented programming method and in VC++6.0 environment. The user interface and control program of robot are designed based on MFC framework. Two auxiliary threads are designed for the main thread of the control program. The actual operation tests show that our control system can effectively control the robot to realize the trajectory tracking and motion control. And a variety of motion control algorithms are also effectively verified. So these show that the control scheme is feasible and the control program is reasonable and effective. |
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