Research And Development Of Industrial Robot The Control System Software Based On LinuxCNC

With the development and progress of science and technology, industrial robot technology is important for the future development trend of manufacturing, and is the foundation of intelligent manufacturing. As a manufacturing country, under the "Made in China 2025" strategic direction, the market of industrial robots of China will get bigger. Research and development of high-performance robot control system has a very important theoretical and strategic significance.Robot control system design is complicated, our system solution is industrial computer running with motion controller which contains the core control algorithm + I/O motion control board. We use real-time kernel patch RTAI to enhance real-time performance of standard Linux and use EtherCAT fieldbus technology to complete communications between industrial computer and motion control board.Determining the robot control system solutions, the paper described the robot theory and algorithm, and used D-H method to build model of PUMA560 robot and description of spatial position and orientation.Then we got D-H parameters and achieved 3D model simulation. Kinematics algorithm is derived, and kinematics algorithm module prepared on open source Linux CNC system. Because trajectory planning is one of the key technologies of the robot, this paper also discusses in detail the complete process of trajectory planning.This paper describes the software architecture and how it works, and gives a detailed analysis of the communication mechanism between modules. Hardware Abstraction Layer HAL allows the software control system and hardware system can be developed independently. According to the project demand, the paper customized hardware abstraction layer HAL. Finally, this paper proposed needs to obtain an absolute position and details of the method of its implementation in the control system. Combined with industrial robots operating procedures and norms, the paper developed a new graphical user interface combined PyQt, Vismach library in Python.Finally, we built experiment platform in the laboratory environment, and tested the performance of control system through the robot interface. Testing includes kinematics correctness testing, functional testing of obtaining the absolute position, the robot basic functionality testing such as a uniaxial debugging, MDI debugging, teaching-online programming, free processing etc.