Development Of Software-only Control System For High-speed Parallel Robot

Combining closely with the needs of high speed parallel robot from foods pharmaceuticals, electronics and light industry, this dissertation systematically investigates into some issues on the development of software-only control system based on TwinCAT, including the design of open software architecture, core functions, robot programming language and its interpreter. The achievements are employed to the performance tests on Cross-IV prototype machine. The following contributions have been made:The “IPC+TwinCAT” architecture is employed in the development of the hardware of the software-only control system. Following the principle of open, modularity and hierarchy, the software of the control system is divided into several functional modules on the basis of requirement analysis. According the open level, these functional modules are grouped into three different layers, i.e. the user layer, the core layer and the driver layer. Consequently, the software architecture is presented.Forward and inverse kinematics module, trajectory planning module and interpolation module are developed using the component-based development method, leading the improving of versatility and flexibility. To fulfill the high frequency pick-and-place, data structure of the interface between vision capture and motion control is designed as well as selection process to avoid duplication or omission of multiple objects' identifying. Through adding pre-process, the parallel control flow is constructed, which thereby can make full use of computer resource and develop the real-time interpolation and the multi-task scheduler.The robot programming language system is designed separately by modules, and then a set of robot programming language is presented. Detailed method to realize language interpreter is discussed, and the interpretation process of program loading, syntax checking and language conversion is determined. Finally, we test the function of the interpreter by giving a simple program.The proposed software-only control system has been successfully applied in the design of Cross-IV prototype machine, and the trajectory control performance test work has been carried out. The experiment results show that under different motion conditions, the control system can control the following error within a certain range, which further illustrates the control system's high performance in continuous track motion. The needs of high-speed and high-precision control can be satisfied.