基于开放式结构的机器人控制系统的研究和设计

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1、合肥工业大学硕士学位论文基于开放式结构的机器人控制系统的研究和设计姓名：陈全申请学位级别：硕士专业：计算机应用技术指导教师：李钢20040501TheresearchanddesignofaroboticcontrolsystembasedonopenarchitectureAbstractWiththedevelopmentofscienceandtechnology，theapplicationsofrobotsbecomemoreandmorepopularineveryindustryortrade，whichhasb

2、eenakeycomponentofautomaticproduction．Becauseoftherapidevolutionofcomputertechniqueandcontrolmethod，notonlyhastheapplicationflexibilityofrobottechniquebeenexpandedwidely,butalsohastheperformanceandstructureofcontrolsystembeenmadegreatinfluenceon．Underthesecircumstan

3、ces，itisbecomingatrendfromclosetoopengradually．Inthisdissertation，thestandardsandcharacteristicsoftheopenarchitecturecontrolsystemforroboticisresearchedatfirst，andsomerealizedmodesoftheopenarchitecturecontrolsystemiscomparedasfollow．Onthebasisofdiscussionabove，wedec

4、idetodeveloptheopenarchitecturecontrolsystemforroboticbasedonIPC+DSPmode．Forthepurposeofascertainingthepositionandorientationoftheendoftheroboticarmsandmotionpathinspaceprecisely，itmustbestudiedforthebasictheoriesoftheroboticskinematicsandrobotmotionpathplanning，and

5、itisconstructedbyusingthesemathematicaltoolsfortheorthogonalcoordinatesofconnectingrodclevelsandkinematicsequationsofthe6degreesoffreedomjointrobotic：atthesametime，underthecircumstancesofcomparingandanalyzingkindsofinterpolmionalgofithm，wedecidetousetheCP+PTPmodetop

6、lanthepathaccordingtothepracticalconditionsonthespotofproduction．Atlast，wedesignthesoftwareandhardwareofIGMarcweldingroboticcontrolsystem，basedonthetheories’studyingandanalyzinginpreviousfourchapters．Itconsistsoftwopart，theoneishardware：integratingthesystemofthearcw

7、eldingrobot’Shardwaresanditsworkingprinciples，separatingandextractingtheoriginalsystem’Scontrolsignals，designingthecontrolsystemopenlyanditsworkingprinciples，constructingthestructureandprincipleofthemotioncardbasedonDSP,designingtheteleeontrolingteachingboxorcontrol

8、paneloftouchingscreenbasedonUSBinterface，applyingforsomesoftwareandhardwaremeasuresoncontrolsystem’Santi-jamming；theotherissoftware：puttin