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The Research and Design of a Robotic Control System Based on Open Architecture

Author: ChenQuan
Tutor: LiGang
School: Hefei University of Technology
Course: Applied Computer Technology
Keywords: Robot Robotics Computer-controlled Open architecture
CLC: TP242.2
Type: Master's thesis
Year: 2004
Downloads: 319
Quote: 3
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Abstract


With the development of science and technology , robot technology is increasingly widely used in various industries , has become a major component of automated production . The rapid development of computer technology and control methods , and greatly expand the flexibility of robotics applications , the performance of the control system , structure aspects produce a very profound impact . The robot control system from closed to open gradually become a trend . The first robot control system standard and features , and then compared several open control system implementations . On this basis , we decided to develop open robot control system based on industrial computer DSP mode . In order to accurately determine the pose space trajectory of the end of the robot arm , the robot kinematics, robot trajectory planning and other basic theory research IGM six degrees of freedom articulated robot link coordinate system and the use of these mathematical tools , sports mathematical equations , etc. ; while in comparison , analysis on the basis of a variety of commonly used interpolation algorithm , combined with the actual situation of the production site , we decided to use the CP PTP trajectory planning method . Finally, the first four chapters of theoretical research and analysis on the basis of the of IGM arc welding robot control system hardware and software design . Including specific hardware part : the the overall arc welding robot hardware system integration and how it works , the original system control signal separation and extraction , the open design of the control system and composition of the principle , structure and principles of the DSP - based motion control card based on USB interface touch-screen remote teach pendant / control panel design , system anti-jamming software and hardware measures ; software part : three of arc welding robot open software architecture model , open software architecture model OSACA model comparison given software system for each module thread priority and communications solutions , using dynamic link library software modular design gives the framework code , CP PTP mode trajectory planning software implementation process , Windows2000 operating system discussion of the real - time problems and solutions .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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