| 英文摘要 | Open architecture controllers reduce overall development time and cost and provide greatly improved flexibility, reconfigurability, extendibility,interoperability,interchangeability,and eusability. The shift in the design of the open-architecture robotcontroller is certain tendency.The finished thesis is partly supported by the national"863"project- the design of open-architecture robot controller.Base on the work on software development of open architecture robot controller, we present a PC-based,open-architecture platform for robot control system development., which integrates an open interface with model building, graphics simulation, real-time implementation,and control algorithms. In this system, by using the object-oriented C++ language, the open robot class library is designed, which includes kinematics algorithms, motion trajectory and typical control algorithms. For the different application, the user can design more special or complex algorithms by deriving or overloading his application class. The system provides a united Graphic Use interface (GUI) and an open robot programming language as an open environment for users to further develop the custom robot system for simulation study and real-time control implementation. The main work and contribution of this thesis are as follows: We first introduce the architecture of PC-based open robot controller, from the first generation controller that is controlled by PCL-832 control card under Windows NT operation, to the present open controller based PMAC control board. Some common properties about PC-based open-architecture robot are obtained, such as low costs, open hardware platform modularized software tools, and standard external I/O communication interface. Second, By using Object-oriented programming technique, a comprehensive data structure describing the robot characteristics is developed. Moreover different robot classes are encapsulated into according to different robot tasks. The basic open robot class library is composed of Rob Base, Rob Simulate and Rob Real Time. In which, Rob Base encapsulates the common, basic robot characteristics such as kinematics/inverse kinematics, matrix operation and other member functions. Especially, to satisfy the open robot motion control, we develop two inverse kinematics, one is applied to the majority of commercial 6-DOF-industry robot whose last three axes intersect, another is geometric method decomposing the spatial geometry of the arm into several plane geometry problems. Rob Simulate and Rob Real Time are derived from Rob Base, their member functions such as PTP, CP, line and arc are almost same except output functions, the former output functions is aimed to simulation, the latter is for real-time control. Base on the open robot class library, the user can derive own application class. Here three application classes are developed from basic class library, |
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