| With the rapid development of robot technology and related disciplines, modern robots are used in more and more applications. Open control system has become one of the focuses of the research in the field of control system. PC+DSP motion controller model provides a good foundation for the open control system, and has a wide range of application scenarios. Therefore, it is very important to develop a complete robot control platform.First of all, the paper keeps an eyes on the current situation of open motion control system in the world. Its main direction is in the factory application. Then we analysis its needs, and select the appropriate operating system, programming language and software development technology.Then, the software platform is designed and planned from four aspects, the overall structure, the hardware structure, design of the module and the whole process.The main work of this paper is to make a deep research and implementation on the reconstruction of robot and the virtual motion controller module. C# interface framework designs a simple and dependent human-computer interaction interface. Plug-in technology and XML technology application makes the whole system is flexible and changeable. With the guide of polymorphism of C++ and design patterns, a virtual motion controller module is designed. It separates the software and hardware parts of the control system. The innovative join of the module of robot reconstruct, which is no longer confined to some kind of robot model. And the application of multi -thread technology helps further improve performance of the software added to the powerful hardware.Finally, the applicability of the control system is verified by three sets of hardware platform. After testing, the robot general software platform reconstruction and the virtual motion controller overall design is good, the control effect is good, the versatility is strong, has achieved the open control system each aspect request. |
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