Design And Implementation Of Motion Control And Simulation Software For Industrial Robot Controller

As the key component of modern industrial robots, robot controller, supporting logic and process control (soft PLC) and robot motion control (RC) with good versatility and scalability, has become the mainstream of development of industrial robot controller. With the aim of developing new industrial robot controller, the design and development of RC software (responsible for motion control and 3D motion simulation) based on the controller architecture of soft PLC+ RC is presented in this dissertation.On the basis of summary of architectures and analysis of the requirements of industrial robot controller, the architecture and work principles of controller which is composed of soft PLC and RC is proposed. And the design and implementation of RC software based on the controller architecture is decribed in detail. System parameters configuration software and virtual teach box on Windows is developed to solve the problem of configuration of system parameters and operating and control of robot. System parameters configuration software is developed to configure robot kinematics model (D-H parameters) and limits of each axis kinematic parameters. Virtual teach box is designed to program and reproduce motion. Industrial robot language is designed and RC running software is proposed according to the requirements of motion control. As the core of RC running software, reproduction task control module is composed of industrial robot control language interpreter module and interpolation module. Interpreter module is designed to interprete teach program in industrial robot control language. And interpolator module is designed to configure reproduction-related parameters and to plan trajectory, solve kinematics. Robot 3D motion simulation software is developed to solve the problem of verification of interpolation and kinematics algorithms.Finally, RC software is integrated for testing. The 6 DOF water jet cutting robot is chosen as the test object. Testing results show that the RC software has achieved the requirements. The research has laid a good foundation for the development of high-performance controller.