Design Of Motion Controller For Six Degrees Of Freedom Robot

With the rapid rise of labor cost in our country,using industrial robots to promote the upgrading of traditional manufacturing has become a trend.Small and medium-sized manufacturing enterprises that produce steel shovels and other tools have an urgent need for robots specializing in the production of steel shovels.But such robots are rare and expensive on the market.Therefore,the research and development of low cost,stable and reliable handling robot instead of manual work,has become a top priority.Motion controller is the core of robot control system,and it is the key to the successful completion of the task.A motion controller for six degrees of freedom robot is designed on the basis of open control system architecture based on PC+ motion controller.It is aimed at researching a high open,low price,user-friendly motion controller to control the movement of the steel shovel during the production.Specific research contents are as follows:(1)Motion analysis of six DOF robots.The characteristics of the robot with six degrees of freedom are analyzed.The kinematics theory and motion control method are studied.The robot motion control needs are clarified.It provides the basis for motion controller design.(2)The hardware design of motion controller for six DOF robots.The hardware program of motion controller is designed by using ARM+FPGA architecture.Ethernet,RS232 and CAN bus communication interface are designed to communication with host computer based on the thoughts of modular.An optical coupling isolated pulse and directional signal interface and an incremental encoder signal interface are designed to control servo motor.An high speed SDRAM is designed to extend the storage of ARM processors.Universal I/O interfaces are designed to control the robot end effector.(3)Software design of motion controller for six DOF robots.ARM control program is written to complete communication,data processing,motor control and other functions.FPGA programmable logic controller is designed to complete the servo control of motor.The upper computer software is developed by using Visual Studio,and it coordinate motion controller to complete the motion control of the robot.(4)Functional test of the six DOF robot motion controllers.The test system is built to complete the communication function of the controller,the pulse signal generating function and the encoder signal receiving function test.Whether the motion controller meets the design requirements is verified by robot positioning control accuracy test.