Design And Implementation Of A 6-DOF Industrial Robot Control System Based On WIN7

With the development of modern industrial automation,the control of industrial robots has been continuously upgraded.And the control of acceleration and deceleration have gone further.It is the trend of this era to produce industrial robot numerical control systems that are based on the public and have a simple operation of window visibility.This article takes the industrial robot as the research object,which contains windows7 visualization simulation,algorithm,communication and acceleration and deceleration.All the realizations are realized under WIN7 platform.The function of ProE and OpenGL to establish a simulation model was studied.The motion components of the industrial robot are drawn in PROE and saved as OBJ files.OpenGL performs three-dimensional reconstruction of OBJ files to complete a visual,scalable,and rotatable simulation system.The form of graphics instead of numbers simplifies the operation of industrial robots.The kinematic forward and inverse solutions of industrial robots are studied which is based on the traditional D-H linkage.The matrix method is used to solve positive and inverse solutions and to optimize multiple solutions of inverse solutions.Aiming at the multi-solution problem of inverse solution algorithm,this paper proposes an algorithm that combines geometric method and matrix method to solve the inverse solution.It reduces the number of inverse solutions and improves the algorithm's computing speed.At the same time,the interpolation of spatial lines and arcs was also studied to complete a complete industrial robot algorithm system.The servo driver and the host computer establish a software communication module.The RS232 and RS485 serial ports realize the communication between the host computer and the six servo drivers.This communication can read the value of the absolute encoder of the motor,and validate the coordinate value of the host computer program which can improve the accuracy of the control system.Reading and writing servo drive parameters simplifies the operation flow of setting up the servo driver and improves the debugging efficiency of the digital control.The Advantech PCI-1265 motion control card was learned to complete the setup and control of Panasonic A6 servo drives and motors with the Advantech's 3955 module.Combined with the VC++ multimedia precision millisecond timer,the control system of the industrial robot was established.A deceleration model based on distance deceleration is proposed.For the problem of motor shake caused by the change of control speed of an industrial robot,the cause of motor shake is analyzed in depth.A deceleration model based on distance deceleration is proposed through a unique data structure which needs to reverse process the deceleration distance of the motion control point.This model solves the problem of motor shake and improves the accuracy of the machine.At the same time,it improves the speed of software system processing.In the above research,VC++ is the main programming software.The graphics function library OpenGL and 3D graphics software ProE are auxiliary.A 6-DOF industrial robot numerical control system software based on Windows 7 was developed in the form of modularization,which realizes the numerical control application of industrial robots to the public.