【作者】 李杰；

【导师】 赵匀； 胡旭东；

【作者基本信息】 浙江大学 ， 机械设计与理论， 2002， 硕士

【摘要】 机器人技术在各个行业得到了广泛应用，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、系统的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向开放转变成为一种趋势。 本文对PUMA560机器人VAL-Ⅱ控制器进行了深入研究，以PMAC(ProgrammableMulti-Axies Controller)代替原控制器，将其改造成为具有开放式结构的控制器。本文讨论了改造的过程，改造方法已在本实验室PUMA560机器人上进行了验证。改造后的控制器基于工业PC和WINDOWS操作系统，突破了传统工业机器人封闭式结构，并具有良好可拓展性，在功能上既具备了工业机器人控制器的基本特性，同时又是一个良好的机器人控制算法实验平台。对于机器人控制工程来说，这种方法具有一定的理论价值和实际的工程意义。 本论文分为七个章节。 第一章首先扼要叙述了机器人技术的现状和最新发展趋势；然后介绍了机器人控制器的发展状况和发展方向，着重介绍了现有控制器的不足；接着介绍了开放式控制器的思想及其优点；最后指出了对PUMA560控制器进行改造的可能性，指出了本文研究的主要内容。 第二章首先介绍了PUMA560机器人的结构及特点；接着研究分析了PUMA560机器人控制系统，详细介绍了控制器各个主要部件在控制系统中的作用。 第三章对PMAC的软硬件进行了详细的分析研究，给出了PUMA560机器人控制器改造的策略与步骤。 第四章以对PUMA560控制器的分析为基础，详细说明了把原控制器改造成开放式控制器的过程；最后对机器人各关节的相对位置进行了标定。 第五章在对机器人建立了D-H坐标系的基础上，给出了机器人的运动学方程；然后运用机器人逆运动学的知识对PUMA560进行逆运动学求解，得到各个关节变量的封闭解。 第六章先简单介绍了C~H语言的特点，接着对用C~H编写的与PMAC进行通讯、PUMA560机器人控制系统初始化及机器人运动控制程序进行了说明。 第七章是总结和展望。更多还原

【Abstract】 Robot technique is the key componen of automatic production and has been widely applied in every industry or trade. With the rapid development of computer technique and control method, not only the application adaptability of robot technique has been greatly widened, but has had a deepgoing influence on the performance and the structure of control system. That robot control system changed from close to open is becoming a trend.This thesis deeply researches on PUMA560 VAL-II controller. On the basis of it the original controller is retrofitted to be an open architecture one with the VAL-n controller instead by PMAC (Programmable Multi-Axies Controller) . The details of retrofitting are discussed here. All method presented in this thesis are verified with experimental PUMA560 robot in our lab. The retrofitted controller is based upon industrial PC and WINDOWS operating system. It breaks through the close architecture of traditional industrial robot and has favourable expandability. It not only possesses the fundamental characteristics of common industrial robot controller, but is an approved control algorithmexperimental platform of robot. The researches are essential both in theory and engineer in robot control engineering.The whole thesis consists of seven sections.Chapter one first briefly states the current application situation and the frontiers of robot technique, then introduces the current development state and the trend of robot controller, especially introduces the lack of current controller, then the concept and advantages of open architecture controller. In the end this chapter points out the possibility of retrofitting PUMA560 robot controller and the subjects of main research work.Chapter two firstly introduces the architecture and characteristics of PUMA560, then the control system of the robot is researched and analyzed and the function of the mainpart of the controller is presented.In chanpter three, the software and hardware of PMAC are researched and analyzed deeply. The retrofitting strategy and step of PUMAS 60 controller are presented.Based on the analyzing of PUMAS 60 controller, chapter four presents the process of retrofitting the original controller to be an open architecture one particularly. At the end of this chapter the relative position of each joint of the robot is calibrated and ascertained.Based on the establish of D-H coordinate system, chapter five presents the kinematics equation of the robot, then gives the reverse kinematics solution according to the knowledge of robot reverse kinematics. And the close solution of each joint variable is gotten.In chapter six, the characteristics of CH language are introduced firstly, then the programes writtien in CH including how to communicate with PMAC, the robot motion control and the initialization of the new control system are presented.Chapter seven presents the summary of this thesis and the probable work in the future.更多还原