Research And Implementation Of Industrial Robot Motion Algorithm Based On LinuxCNC System

With the development and progress of society, the robot technology become the development direction of advanced manufacturing industry. China is a manufacturing power, research of the robot at the core technologies is conductive to innovation and localization of equipment. It not only speed up the transformation of the mode of economic development, but also speed up the transformation of Chinese industry and improve competitive advantage on manufacturing industry. In short, research of the robot at the core technologies is of great strategic significance.Due to Linux CNC system, which is a robot software system, has the advantages of open source, high precision and good real-time, this paper select Linux CNC system as implementation platform of subsequent motion algorithm, so that get higher performance of the robot software system. At first, this paper introduces the software architecture and working principle of Linux CNC system, which is an open source software robots system. Specially this paper analyzes the working principle of the motion controller(Moiton layer) in detail, which provides a theoretical basis for the implementation of subsequent movement algorithm in Linux CNC system.Secondly, this paper introduces the robot’s forward and inverse kinematics, and use D-H method to build model of PUMA560 robot. Based on the model of PUMA560 robot, this paper deduce forward and inverse kinematics equation, and implement it in the Linux CNC system, so that Linux CNC system support for different link parameters of the PUMA560 robot.Thirdly, in view of the limitations of conventional speed control algorithm, a new speed control algorithm was presented, and the algorithm use equivalent trapezoidal speed curve to plan speed for reducing the complexity of the algorithm. Similarly, speed control algorithm is implemented in the Linux CNC system. Simulation results show that the new speed control algorithm make the velocity and acceleration curve more smooth, and the jerk curve does not exist mutations, guaranting the stability and rapidity of the robot.In addition, according to the original Linux CNC system can not machine complex curve, this paper designed the B spline curve algorithm based on the new speed control strategy, and implement it in the Linux CNC system so that Linux CNC system has the capability of machining complex curve.Finally, combined with the operation process of the robot, the paper used the Python language, combining Py QT and Open GL graphics library, to design robot operating interface and 3D simulation interface. The interface is used to test forward and inverse kinematics algorithm, the new speed control algorithm and B spline curve algorithm. Simulation results show that those algorithm is implemented in Linux CNC system correctly, and achieve the expected effect.