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The Pure-software Open Industrial Robot Control System Based on SMP Engine

Author: ChenKunLiao
Tutor: ChenYongMing
School: Xiamen University
Course: Precision instruments and machinery
Keywords: Industrial robots SMP Open CNC System
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 140
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Abstract


With the development of science and technology , the robot technology is increasingly widely used in various industries , has become part of the automated production . Research in robot control system , most of the traditional controller using the enclosed structure , the use of a dedicated microprocessor and control algorithm is fixed in the EPROM ; Today , more and more manufacturers began to study with an open architecture robot control system. The open structure of the robot control system is easy to maintain and upgrade the system , the scalability of the hardware and software , is the overall trend of the robot control system development . The main goal of this paper is to discuss the methods and processes of a pure software - based motion control kernel of the open structure of the robot control system hardware and software implementations . In this paper, the six degrees of freedom industrial robot for the study. The article first analyzes the description of the robot coordinate system and the coordinate transformation of the link using the DH method to create a robot space coordinate system and kinematic model , and analyzed on the basis of solving robot inverse solutions . Structure of the control system hardware , industrial PC the Panasonic the RTEX Network servo platform as a hardware platform . The structure of this hardware has openness , maintenance and upgrade of convenient features . Make full use of the rich resources of the industrial PC and a powerful CPU processing power , meet the robot multitasking control requirements . Control system software after RTX real-time extension of the Windows XP operating system platform . Visual Basic program and MDK secondary development package for secondary development of SMP-850 kernel . According to the functional requirements of the robot control system , the preparation of the initialization communication , parameter setting , teaching operation several typical module . In this paper, the realization of an open industrial robot control system , the robot's capabilities can be further expanded by adding a variety of sensors , or embedded in other software , used in different studies and project development .

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