基于IPC与运动控制卡的机器人运动控制系统

工控机(IPC)和运动控制卡组成的开放式机器人控制系统,具有可靠性高、信息处理能力强、开放程度高、运动轨迹准确等优点,利用其来进行六自由度关节机器人的运动控制系统的开发.IPC实现上位机功能,完成人机交互、运动学运算等任务.下位机采用PMAC运动控制卡,对各关节电机进行伺服控制.上位机基于Visual C++编程,通过调用PMAC的动态链接库编写上位机人机界面实现对PMAC卡的控制,另外介绍了伺服驱动器的设置以及PMAC的PID调节.实践证明这套系统工作可靠,完全满足要求.

Robot Motion Control System Based on IPC and Motion Control Card

The open robot control system based on IPC and motion control card has the advantages of high reliability,strong information processing ability,high degree of openness and accurate trajectory,etc.,and it is used to develop six degrees of freedom articulated robot motion control system.IPC completes the human-computer interaction and kinematics computing and other assignments to realize upper computer functions.Lower computer adopts PMAC motion control card to servo control each joint motor.Upper computer realizes the control of PMAC by calling dynamic link library of PMAC to prepare PC interface based on Visual C++.In addition,PID controller settings of the servo drive and PID regulator of PMAC are also introduced.Practice has proved that this system is reliable and fully meets the requirements.