Research And Development Of Composite Robot Control System

In recent years,robot technology has made great progress and has become increasingly mature,making robots widely used in industries,services,military and other fields.Based on the science and technology plan project of Sichuan Provincial Department of Science and Technology "Development of High-precision Mobile Robot for Missle Assembly",this thesis designs and realizes a composite robot control system framework,and basically realizes the integrated control of the bottom layer of the composite robot.This thesis focuses on the composite robot control system,the following contents are mainly researched:(1)Aiming at the deficiencies of common D-H modeling methods used in the modeling of robotic arm,a new robot modeling method is proposed,which has the characteristics of simple modeling and flexible application.(2)Based on the character characteristics and kinematics characteristics of the omnidirectional vehicle in the omnidirectional mobile composite robot,in order to realize the integrated control of the composite robot,this thesis develops a high-precision openloop pose control method for the omnidirectional vehicle.This method is based on the omnidirectional movement principle of the mecanum wheel omnidirectional vehicle,systematically sorted out its kinematics modeling method,and then proposed a highprecision open-loop pose control method based on real-time micro-element velocity control according to the forward and inverse kinematics mechanism.This open-loop pose control method for omnidirectional vehicles does not require external sensors,which is not only simple in engineering implementation,but also makes it possible to realize the integrated pose control of omnidirectional mobile composite robots.(3)aiming at the problem that the existing robot programming language is difficult to describe the movement path of the composite robot,a new programming language suitable for the composite robot is designed and implemented in this thesis.The syntax of the language is concise and efficient,and it can describe the motion path of the composite robot in various application scenarios.Finally,the control system implementation and experimental verification are carried out.This thesis implements the EtherCAT master station based on real-time Linux,and uses embedded technology to develop the EtherCAT slave station.After the implementation of various algorithms in the master station,the calculation results are interacted with the slave station through EtherCAT in real time,and the integrated control function of the composite robot is realized.It has achieved the expected effect.