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An Open Robot Controller General Research and Design


Arm robot control, the software is fully validated. Figure 3 shows the overall structure of the software is divided into upper and lower layers. Top software includes initialization module, teaching module, representation module, monitoring module, document management module; lower trajectory planning of robotic software and servo motor control. Each module has its own separate function, call the relationship between simple assurance procedures using public data area data transfer and communication between the secure and reliable software interface on the lower achieved through interrupts. Class initialization mode controller and the machine checks the current state,[link widoczny dla zalogowanych], set the control environment. Guo Wei and other: ~ Universal Robot Controller kinds of open research and design teaching box monitoring module provides the communication with the host to handle the keyboard keystrokes, monitor the robot's work on the operation of the location of such errors overrun alarm. Teaching modules to complete the location of the robot joints can teach, right angle, tools and user four coordinates teaching, teaching instruction generating teaching position papers and documents. Teaching function and editing integrated, user-friendly. Figure 3 modular software architecture with open arms in Figure 4 Conclusion modular structure and standardized general-purpose controller is the development trend of today's robot controller】. This article describes the robot controller is based on this design. Mainly reflected in: Select industrial PC control platform as the standard, the standard operating system, bus structure, interface, network capabilities and rich software and hardware resources for the control of the open,[link widoczny dla zalogowanych], universal basis; using DSP technology position movement control card servo control of robot joints to ensure high-speed, high accuracy requirements and create the conditions for the expansion of the controller; software's modular design, standard C language development, not only makes the program easy expansion and reconstruction, but also making it easily portable to other systems possible. Should be mentioned that, on the controller's open and general concept, or research in different disciplines have different interpretations _2. Combined with computer science,[link widoczny dla zalogowanych], control systems theory and other disciplines on the robot controller in-depth research,[link widoczny dla zalogowanych], much work remains to be done. Interpretation modules form the machine can understand the various commands, depending on the fog Siri: instructions. Then call the underlying software driver operating the robot to complete the task. Yong, Tan Min robot, 1999, (.) Block management of documents, including files to change 2. : Mexico::: name and delete, copy and other functions. 4 Wu Zhen Wei and other robots, 2o00,[link widoczny dla zalogowanych], 22 (7) the robot trajectory planning module to complete the kinematics and inverse operation [5] Guo Wei, sent troops with electronic technology, 2000.27 operator interpolation algorithm and a variety of tracks. L6] ErdN1EEE/AEZrct ~. 1tict ∞ M \. thiskindofcontrollercallbeappliedtovariousmulti-jointrobotsKeywords: Controller, Robot, DSP81

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