The Underlying Software Design Of Six-axis Robot Controller And Its Algorithm Simulation Research

The motion controller is the control core of industrial robots,and it is also a measure of the performance level of industrial robots.The design of the underlying algorithm directly affects the control performance of the robot.In this paper,six-axis industrial robots are taken as the research object.Based on the servo-driven technology,the development and design of the motion controller of the industrial robot are systematically introduced from the level of motion control algorithm.Research on robot kinematics.The kinematic position positive solution of the robot is established by using the DH modeling method.The eight-position kinematics inverse of the robot and the corresponding eight kinds of robots are analyzed by geometric analysis and coordinate transformation.The three kinds of singularity types of the robot are analyzed based on the eight structural states,and the specific measures are put forward for the singularity.This paper introduces the velocity kinematics of the robot,analyzes how to use the velocity kinematics to realize the control of the robot,compares the control effect of the velocity kinematics and the control effect of the position kinematics,and analyzes the pros and cons of both.Kinematic trajectory interpolation algorithm.Based on the spiral theory,a method of robot attitude motion planning is proposed.The design of the kinematic trajectory planning of the robot is realized by using the polynomial interpolation.The spatial path planning of the manipulator,the space arc path planning and the calculation of the space arc path are completed by the mathematical geometry analysis and coordinate transformation.Space columnar spiral path planning design;based on the trapezoidal acceleration and deceleration speed planning method to complete the multi-line continuous trajectory forward control design.The underlying software design of Motion Controller.The overall development of the motion controller is analyzed,and the development and design of the bottom of the motion controller are introduced from the aspects of the underlying logic module design and the underlying software design in DSP.Research on Kinematics Simulation and Online Test of Motion Controller.By using the MATLAB toolbox to complete the modeling of the robot,and as a basis for the completion of a variety of planning trajectory simulation research and motion algorithm validation.Through the opengl software library to complete the 3ds format robot 3D file read,and in visual studio develop a robot motion control simulation software.The simulation software can communicate with the motion controller through TCP/IP protocol,by writing the motion control algorithm to the motion controller,so the motion controller can send the control data of the robot joint to the simulation software to drive the joint movement of the graphical simulation robot and draw its motion trajectory.The motion controller is connected with the robot to drive the servo motor,and the motion of the robot body is tested by a given motion trajectory.