六自由度轻载搬运机器人控制系统设计

针对开放式控制系统的特点,以工业平板电脑和PMAC(Programmable multiple-axis controller)为基础,构建开放式硬件控制系统,基于Visual C++6.0进行上位机控制系统软件开发。控制系统采用分级控制方式和模块化结构软件设计,上位机负责信息处理、路径规划、人机交互,下位机实现对各个关节的位置伺服控制,模块化软件设计便于增减机器人功能,使系统具有良好的开放性和扩展性。经示教再现实验和负重实验证明,机器人控制系统运行平稳,满足设计要求。

Design of 6 DOF Light Load Handling Robot Control System

For the characteristics of open control systems, open hardware control system was constructed based on industrial tablet computer and programmable multiple-axis controller (PMAC).Development of host computer control system software was carried out based on Visual C ++ 6.0.The control system was adopted of hierarchical control mode and modular structure of the software design, the host computer was responsible for information processing, path planning, human-computer interaction, the lower computer to achieve the position servo control of each joint, modular software design allowed changes the number of robot functions easily, and the system had good openness and scalability.According to the teach-playback and weight experiments, it is proved that the robot control system is running smoothly, and meets the design requirements.