Discontinuous Motion Planning And Research Of Robot Soft Motion Controller Based On RTX

Under the background of "made in China 2025",intelligent manufacturing industry develops rapidly,in which robot has been widely used in various industries.As the core of robot motion,motion controller is the focus of industrial control research.Aiming at the problem that the bottom control of the motion module of the motion controller is not open,and the research of the bottom control of the soft motion controller with high efficiency and real-time is relatively backward.At present,the research of soft motion controller based on RTX real-time operating system is rare in China.Based on the RTX real-time operating system in the computer windows operating system,the discontinuous motion function module of robot motion controller is designed and developed from real-time,safety and operability to open bottom software control system,and provides technical reference for further research in the field of real-time soft motion controller.The main research contents are as follows:(1)On the RTX real-time operating system soft motion controller platform,according to the functions of jog motion module,including real axis jog and virtual axis jog module design and planning.In this paper,the real-time interpolation control scheme of axis jog motion is proposed for T-type and S-type acceleration and deceleration,and the basic motion control function and the real-time pose point generation control scheme of virtual axis point motion of robot under GUI interface are realized.(2)The soft motion control system is based on the main idea of security,according to the function demand of emergency stop,a design scheme of single axis emergency stop module with acceleration and deceleration planning is proposed and realized.This study provides an effective reference for the motion development of the single axis emergency stop module.(3)Aiming at the self-developed single axis homing function module of soft motion controller,a set of homing module planning scheme based on T-type acceleration and deceleration is proposed,and the bottom control module of homing module is developed according to this scheme.The design of another single axis motion module of motion controller is open.Finally,the experimental verification of the research work is carried out on the self built real-time multi axis motion controller platform.The results show that in the soft motion controller based on RTX real-time operating system,the single axis motion control module can output accurately.According to different experimental requirements,users can choose the corresponding underlying calculation mode to meet the control requirements to prove the effectiveness and feasibility of the proposed control scheme.This paper proposed bottom control scheme of single axis,such as jog,emergency stop and homing modules in the soft motion controller under the real-time operating system has good reference significance for the design and development of other soft motion controllers in the future,and promotes the openness of the motion controller.