The Robot System Based On POWERLINK Fieldbus

Robot is a multi-disciplinary high-tech products consist of computer, control theory, mechanics and artificial intelligence. The wide application of robot makes it becoming a hot new technology. Share of industrial robots represents technological level of processing and manufacturing of a country. The application of industrial robot is more than a replacement of the existing workforce, but a huge boost of social labor. Industrial robot works compared to human labor.ABB, FANUC, KUKA and Yaskawa, these four robot companies lead the market currently in the field of robotics industry. In order to break this situation, the focus of this study will be on the development of an open robot control system.First, this paper studies theoretical basis, such as the Forward and Inverse Kinematics of robot, and calculation of tool parameters commonly used in industrial robot control.Secondly, when design hardware configuration of this system, openness are fully taking into account. Based on the open source POWERLINK fieldbus, we chose servo drives support function of it. We use TCP/IP protocol to communicate between the mobile panel and the robot controller. System hardware modules can be "plug and play".Complying with modular software programming ideas, we designed this robot control system architecture. Motion control module isolates the physical layer and the application layer. In robotic systems application layer, applicatsion modules packaged their respective functions within the module; according to the specific application we can design unique functional modules. Communication protocol layer provides interface to control the robot through the application modules.This robot control system owns high degree of openness for future system upgrades and maintenance extensions particularly convenient; you can change the system components flexibly according to the using site.