【作者】 陈全；

【导师】 李钢；

【作者基本信息】 合肥工业大学 ， 计算机应用技术， 2004， 硕士

【摘要】 随着科技的发展，机器人技术在各个行业得到了日益广泛的应用，已经成为自动化生产的主要组成部分。计算机技术与控制方法的快速发展，大大拓展了机器人技术应用的灵活性，更是对控制系统的性能、结构等多方面都产生了极为深刻的影响。机器人控制系统由封闭走向开放逐渐成为一种趋势。 本文首先对机器人开放式控制系统的标准和特征进行了研究，随后比较了开放式控制系统的几种实现方式。在此基础上，我们决定研制基于工业计算机+DSP模式的开放式机器人控制系统。为了精确确定机器人手臂末端的位姿及空间运动轨迹，必须对机器人运动学、机器人运动轨迹规划等基本理论进行研究，并运用这些数学工具建立了IGM六自由度关节型机器人连杆坐标系、运动学方程等；同时在比较、分析各种常用插补算法的基础上，结合生产现场的实际情况，我们决定采用CP+PTP的轨迹规划方法。最后在前四章理论研究和分析的基础上，我们设计了IGM弧焊机器人控制系统的硬件和软件。具体包括，硬件部分：弧焊机器人硬件整体系统集成及其工作原理，原系统控制信号的分离和提取，控制系统的开放式设计及组成原理，基于DSP的运动控制卡结构和原理，基于USB接口的触摸屏式遥控示教盒／控制面板的设计，系统抗干扰的软、硬件措施；软件部分：提出了弧焊机器人的三层开放式软件结构模型，软件结构模型与OSACA的模型进行开放性比较，给出软件系统各模块线程间优先级和通讯的解决方案，使用动态链接库技术实现软件模块化设计并给出了框架代码，给出了CP+PTP方式的轨迹规划软件实现过程，Windows2000操作系统实时性问题的讨论及解决方案。更多还原

【Abstract】 With the development of science and technology, the applications of robots become more and more popular in every industry or trade, which has been a key component of automatic production. Because of the rapid evolution of computer technique and control method, not only has the applicationflexibility of robot technique been expanded widely, but also has the performance and structure of control system been made great influence on. Under these circumstances, it is becoming a trend from close to open gradually.In this dissertation, the standards and characteristics of the open architecture control system for robotic is researched at first, and some realized modes of the open architecture control system is compared as follow . On the basis of discussion above, we decide to develop the open architecture control system for robotic based on IPC +DSP mode. For the purpose of ascertaining the position and orientation of the end of the robotic arms and motion path in space precisely, it must be studied for the basic theories of the robotics kinematics and robot motion path planning, and it is constructed by using these mathematical tools for the orthogonal coordinates of connecting rod clevels and kinematics equations of the 6 degrees of freedom joint robotic; at the same time, under the circumstances of comparing and analyzing kinds of interpolation algorithm, we decide to use the CP+PTP mode to plan the path according to the practical conditions on the spot of production. At last, we design the software and hardware of IGM arc welding robotic control system, based on the theories’ studying and analyzing in previous four chapters. It consists of two part, the one is hardware : integrating the system of the arc welding robot’s hardwares and its working principles, separating and extracting the original system’s control signals, designing the control system openly and its working principles, constructing the structure and principle of the motion card based on DSP, designing the telecontroling teaching box or control panel of touching screen based on USB interface, applying for some software and hardware measures on control system’s anti-jamming; the other is software: putting forward the three levels opening software structure modelof arc welding, comparing the opening of software structure model between OSACA and ours, putting forward the solutions of the PRI and communication among the threads of software system’s modules, using the DLL’s techniques to solve software’s module design and putting forward the frame codes, bringing forward the path planning software’s realization by CP+PTP mode, discussing the real time of Windows2000 operating system and advancing its solution.更多还原