Research On Robot Control System Based On Real-time Ethernet And KRTS

As a kind of high-tech automation equipment, the industrial robot has been wildly used in manufacturing, it greatly emancipates the labor, increases production efficiency, and has achieved remarkable benefit. With the increasingly level of automation in industrial areas, the development of industrial robot is forward to the direction of high speed, high precision, intelligence, generalization, and modular, and these request the motion control system should have fast response speed, good real-time performance and open hardware & software platform. Compare with foreign advanced technique, there is a big gap on robot control system in following aspects, such as efficiency, reliability, platform and modular. We also beset by technical barriers and limitations of close structure of traditional control system. So it is a great significance to invent an open motion control system.Firstly, do some kinematics analysis about SCARA manipulator, calculate the inverse and forward kinematics functions based on D-H, and provide math theory for the following work. Do some research and path planning about PTP task in joint space and Cartesian space with SCARA manipulator. Then, it presents a new polynomial trapezoidal acceleration-deceleration algorithm based on S curve algorithm and Sine-cosine trapezoidal acceleration-deceleration algorithm, and it has a continuous jerk curve. Based on above theory and algorithms, using virtual prototype technology to do SCARA robot dynamics simulation and prove the validity of the algorithm.Secondly, aiming at the problems in industrial robot control system and its development direction, a platform of robot motion control system which is based on EtherMAC real-time Ethernet bus and KRTS software structure is put forward, Using KRTS to extend the real time performance of GPOS and the feature of the node synchronization and clock correction technology and modular open software structure of EtherMAC bus platform to realize the standardization, generalization, network as well as modularization of software in control system platform, and overcome the limitation of the closed traditional industrial robot control system structure, offering a set of high performance open solution for the robot control system development.Finally, test the control system on robot platform. By collecting and analyzing the data of controller response time, the manipulator efficiency of PAP task and the performance of servo motors through the motion, to prove the performance of the control system.