串联机器人运动控制方法的研究

Implementation of motion control system for serial robots

通过对某型串联机器人进行运动学分析,从而确定了此串联机器人的工作空间,应用绘图软件Auto CAD,利用其方便的数据文件生成功能,探索出了一种串连机器人模型轨迹数据的生成方式。采用面向硬件的控制方式,主要通过向PCL-839板卡写命令的方式实现控制功能。软件应用V isual C++语言写成。利用C++语言中的地址操作函数向PCL-839步进电机控制卡接口中写入指令,从而完成控制机器人运动的功能。

This paper is based on the kinematical analysis of EDU robot, the workspace of EDU robot is confirmed. The generating mode of track data about a sort of Series Robot is explored by means of applying the data file generating function of AutoCAD. Using the control method facing hardware, we accomplish the control function by means of order writing to PCL - 839. The software is compiled by language Visual C ＋ ＋. The function of robot movement controlling is accomplished by means of orders writing from the address handling function to PCL- 839 stepping motor control card by language C ＋ ＋.