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The Study of Open Architecture Robot’s Motion Control Based on PMAC Controller

Author: ZuoZheSong
Tutor: LuoZhongMing
School: Harbin University of Science and Technology
Course: Measuring Technology and Instruments
Keywords: Robot Open architecture Motion Control B-spline Trajectory planning
CLC: TP242
Type: Master's thesis
Year: 2008
Downloads: 107
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Abstract


Robot technology in various industries have been widely used, has become a major component of automated production . The rapid development of computer technology and control method greatly expand the flexibility of robotics applications , control system performance, system structure aspects produce a very deep impact . Robot control system from closed to open transition to become a trend. Studied this subject is the open architecture of the robot to adapt to the development of robot control system . This paper first introduces the research status of robotics , robot controller features and problems of the establishment of a robot with open architecture control system , and a detailed analysis of the key technologies involved in the achievement of the control system . System features open architecture robot PMAC ( Programmable Multi - Axies Controller ) widely used as a controller to be applied to the core part of the open structure of the robot , based on an open platform hardware and software aspects of the study , the final structure of the system , and to PMAC own package in the VC open platform following the development of control software , complete all of the hardware installation , set-up and commissioning of the system . Robot based on the DH notation , inverse kinematics model is derived based on the algebraic method of inverse kinematics equation solving process . Analysis of the fundamentals of the structure and characteristics of cubic uniform B-spline curve , design based on B-spline curves robot joint space trajectory planning algorithm and compare the advantages and disadvantages of the Cartesian space and joint space trajectory planning . And then in the joint space trajectory planning the algorithm polynomial curve and B-spline curve two trajectory planning algorithm advantages and disadvantages , and ultimately determine the trajectory planning method . The trajectory planning algorithm and motion control algorithms were simulated using Matlab software . Simulation results show that : the design trajectory planning algorithm, with high control accuracy, strong adaptability . Eventually the actual movement of the robot arm to prove the feasibility of open architecture , and Finally in the conclusions of the paper .

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