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The Control System Design of 6 DOF Open Industrial Robot

Author: WangQiChun
Tutor: LinZuoZong
School: East China University of Science and Technology
Course: Mechanical and Electronic Engineering
Keywords: Six degrees of freedom industrial robot Functional modules Teach Instruction programming Compiler
CLC: TP242.2
Type: Master's thesis
Year: 2011
Downloads: 423
Quote: 0
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Abstract


Topics robot mathematical model is PUMA560 robot models , robot kinematics equation , the robots are inverse solution . , Combined with the development of open CNC technology for the problems of traditional industrial robots , robot control PC motion control cards open way , servo motor control six joint motion control card , its I / O control welding torch open closed . Multi-level system software using VC programming , combined with an open control system , modular design method to write the control software in the Windows operating system platform . The system software consists of multiple functional modules , robot programming instructions compiled module and implementation module is the key core . The robot mode of operation using the Teach command programmatically , to design a robot programmed instruction , the use of open source code library BOOST design a robot instruction compiler . The robot in the Cartesian coordinate system and the joint coordinate system of linear and circular interpolation algorithm , and the algorithm execution module . The kinematics involved complex matrix operations Matlab plug Matcom45 processing . Different functional modules modular package for secondary development function expansion interface.

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