Design And Implementation Of Industrial Robot Control System Based On DSP And ARM

The control system of industrial robot often contains a large number of matrix computing and interface interaction.The traditional design scheme usually uses the system framework of X86+FPGA.With the development of embedded intergrated technology and SOC tech,multi-core controller is widely used in the industrial control system because of its high cost performance,such as high performance DSP,ARM,CPU and GPU.Multi-core embedded system have outstanding performance in integration,power consumption and computing.Thus,this thesis designs the hardware system based on the OMAPL138,and develops a complete industrial robot control system.Firstly,this thesis introduces the kinematics of robot.Starting from the traditional model of industrial robot control system,thesis puts forward industrial robot control system architecture for hardware production based on the system development trend indicators,computing power,fault tolerant mechanism,movement and the subject index.Based on the traditional CNC machine tool interpolation control algorithm,this thesis improves the distance interpolation trajectory planning algorithm combined with the kinematics of robot,presents a design of fixed distance interpolation and adaptive trajectory based on the acceleration decomposition control(RMAC)strategy,which is used to deal with the problem of the cusp vibration and smooth motion control.The MATLAB simulation analysis and the actual motion experiment are carried out for the trajectory with the specified point.According to the actual data and comparative analysis,the superiority of the motion control algorithm is proved.After the experiment,the control model can achieve the peak speed 1.9m/s smooth motion control.This model completes the adaptive motion planning of the trajectory,and the repositioning precision is less than 0.3mm.Finally,this thesis gives the production process of the hardware system,tests the quality of the power supply voltage and the ability of multi core communication and puts forward the improvement measures.The experimental results show that the architecture of the DSP+ARM based industrial robot control system has the advantages of reasonable structure,reliable hardware design and software control algorithm.