Design Of A 6-DOF Robot Control System Based On PMAC

In the era of rapid economic development,the application of robots in the field of automatic production has the significance of The Times.It is a complex structure,high flexibility of mechatronics equipment.Many industries today are all about robots,and their use can dramatically increase productivity.In this paper,the six-d OF vertical serial modular robot is taken as the research object,and the control system is developed and designed.The modular development and design method is adopted to study the robot kinematics,PMAC control and its connection with the upper computer.The main research contents are as follows:First of all,the forward kinematics and inverse kinematics analysis of the vertical tandem six-degree-of-freedom robot was carried out to study the general problem of solving the forward kinematics and inverse kinematics of the robot,and the solution equation was established,which laid a theoretical foundation for the subsequent software development of the control system.Secondly,the overall scheme of robot control system is designed based on the design idea of PC+PMAC motion control card combination.The PC based on Windows operating platform was used as the upper computer,and the PMAC motion control card with programmable multi-axis motion controller was used as the lower computer.The servo drive and step drive are selected as the robot driving units respectively to complete the hardware connection and safety function setting of the control system and build the robot experiment platform.Thirdly,the software development of upper computer of robot control system is completed.The upper computer software development is based on PComm32 dynamic link library,and VC++ is adopted as the development tool.The main functional modules developed include module combination mode,module movement,robot reset,robot emergency stop,etc.,which can realize the startup,positive and negative movement,reset,emergency stop and claw suction of the robot.Through human-computer interaction interface,the software of upper computer is tested in practice,and the usability of each function of the module is verified.Finally,in order to improve the motion characteristics of the joints and improve the motion accuracy,the servo system of the six-d OF modular robot was optimized.PMAC application system development tool PMAC Tuning Pro was used to adjust the actual control parameters of the robot,so as to achieve rapid response and stability control of the robot.