Research Of 6-DOF Industrial Robot Control System Based On Motion Control Card

Robot technology is the highest achievement of mechatronics technology development so far,it mainly applied to machinery,electronics,and other engineering field,its development speed is incomparable to other technologies.The control system is the command center of the robot.It should be high reliability,full-featured,fast response.The paper design an open industrial robot control system,whose controller uses two-stage structure.The MAC-3002SSP2/MAC-3002SSP4 is used in the bottom for controlling the robot,and the top industrial computer is adopted for system management.The main work is as follows:Firstly,the overall design of the control system is put forward,and hardware components especially MAC-3002SSP2/MAC-3002SSP4 are introduced.Then,the mathematical basis of the robot is introduced,on the basis of analyzing RBT-6T/S01 DM serial robot,the kinematics model of 6-DOF series robot is established according to the D-H rule,including the forward kinematics algorithm and inverse kinematics algorithm,and the trajectory planning of the robot in Cartesian space and Joint space.Finally,based on MFC and kinematics model mentioned above,the software of robot control system is designed by using VC++ 6.0 compiler and object oriented design concept,then it can finish complete teaching,fixed-point grab,trajectory planning and other tasks.Study in this paper will provide a foundation for engineering applications of the modular 6-DOF industrial robot.