Research On The Development Of The Controlling System For Delta Robot Based On LinuxCNC.

The widely use of robots will be an important development goal of Intelligent Manufacturing in the future.The perfect robot control technology is an important guarantee for intelligent production.It takes long period in developing a perfect robot numerical control system due to its complicated function.In order to shorten the time period,this paper developed a special CNC system for the Delta robot based on LinuxCNC open source software.And by combining EtherCAT industrial Ethernet technology with the HAL hardware abstraction layer,system controls the servomotor directly.The main work is as follows:The overall scheme of the control system is proposed on the basis of the actual Delta robot control requirements,and the requirements and technical routes are discussed and decided from two aspects of hardware and software.From the aspect of system software,this paper has developed a HAL control program of the EtherCAT master by using the HAL hardware abstraction layer provided by LinuxCNC to make combination of LinuxCNC and EtherCAT technology.Moreover,the precise synchronization between the servo axes is realized by using the distributed clock and precise control of the clock calibration.In order to improve the applicability of the system,this paper developed a method based on analyzing XML text,which can automatically build the HAL layer components.So it can realize that the system can control any connected servo device.In order to solve the problem of intermittent vibration of servo motors in the application of the system,the reason is analyzed from different aspects,and the problem is solved by controlling the distribution clock and optimizing the scheduling route of the system.Then this paper introduces the kinematics algorithm derivation of the Delta robot and realizes the method of the kinematics forward and inverse.And it has developed a motion controlling module of the Delta robot on the LinuxCNC,and makes the kinematics work.Finally,the test and verification are carried out on the experimental platform built on the lab.Based on the above development and research,it was completed in the research and development of special CNC system for Delta robot.In this testing operation,the test shows that the special numerical control system functions well and achieves the goal of 1ms real-time controlling.