开放式SCARA型机器人控制器的研究
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摘要
开放式的系统结构使得机器人控制系统能够根据要求扩展和更改功能，从而增强机器人的性能，而模块化设计使得机器人控制系统安装维护方便，同时提高了机器人的可靠性，本文就从开放式和模块化的要求出发，设计了使用DMC运动控制卡和工控机组成的SCARA型机器人控制系统。
首先，在充分分析SCARA型机器人的机械系统的基础上，阐述了控制系统的运动学建模方法和轨迹规划方法。
其次，在充分分析DMC运动控制卡的基础上，设计了以工控机和运动控制卡为基础的开放式硬件结构。同时利用面向对象的方法，结合C++语言，以模块化为准则设计了基于WINDOWS 20000 操作系统的SCARA机器人软件系统。重点阐述了该软件系统设计中的关键技术如多线程等和离线编程子系统的设计。
最后，在该控制系统的基础上，提出了利用神经网络理论无需建模的方法进行动力学补偿探索式研究，取得了很好的效果。
该控制系统的设计和运行实验表明，开放式与模块化的设计方法扩展了SCARA型机器人的功能和提高了SCARA型机器人的性能。
The robot control system can use open architecture to expand and alert function, and to make better the performance of robot. Modularization design provides the convenience of installation and maintenance and better functional reliability. The thesis design a SCARA robot controller system based on a DMC controller card and an IPC by use of the open architecture and modularization.
Firstly, the technique of kinematics modeling and trajectory planning is introduced on the basis of the full analysis of the mechanical system of SCARA robot.
Secondly, the open hardware architecture based on the IPC and DMC controller card is accepted by the full analysis of DMC controller card’s specialty. At the same time, the SCARA robot software system based on WINDOWS 2000 operating system is developed by means of the object-oriented method integrated with the C++ language. The modularization and open architecture are guidelines of the development of software system. It is emphatically expressed that the key technology such as multithreading and the development of off-line programming system.
Lastly, an approach based on the Neural Networks Algorithm without modeling is presented to groping research on dynamic compensation to improve the accuracy of robot trajectory.
The design of this controller system and the run of experiment based on it present a true thing that openness and modularization expand in the SCARA robot controller system function and improve the performance of SCARA robot.
首先，在充分分析SCARA型机器人的机械系统的基础上，阐述了控制系统的运动学建模方法和轨迹规划方法。
其次，在充分分析DMC运动控制卡的基础上，设计了以工控机和运动控制卡为基础的开放式硬件结构。同时利用面向对象的方法，结合C++语言，以模块化为准则设计了基于WINDOWS 20000 操作系统的SCARA机器人软件系统。重点阐述了该软件系统设计中的关键技术如多线程等和离线编程子系统的设计。
最后，在该控制系统的基础上，提出了利用神经网络理论无需建模的方法进行动力学补偿探索式研究，取得了很好的效果。
该控制系统的设计和运行实验表明，开放式与模块化的设计方法扩展了SCARA型机器人的功能和提高了SCARA型机器人的性能。
The robot control system can use open architecture to expand and alert function, and to make better the performance of robot. Modularization design provides the convenience of installation and maintenance and better functional reliability. The thesis design a SCARA robot controller system based on a DMC controller card and an IPC by use of the open architecture and modularization.
Firstly, the technique of kinematics modeling and trajectory planning is introduced on the basis of the full analysis of the mechanical system of SCARA robot.
Secondly, the open hardware architecture based on the IPC and DMC controller card is accepted by the full analysis of DMC controller card’s specialty. At the same time, the SCARA robot software system based on WINDOWS 2000 operating system is developed by means of the object-oriented method integrated with the C++ language. The modularization and open architecture are guidelines of the development of software system. It is emphatically expressed that the key technology such as multithreading and the development of off-line programming system.
Lastly, an approach based on the Neural Networks Algorithm without modeling is presented to groping research on dynamic compensation to improve the accuracy of robot trajectory.
The design of this controller system and the run of experiment based on it present a true thing that openness and modularization expand in the SCARA robot controller system function and improve the performance of SCARA robot.
引文
[1] 王树国等， 智能机器人的现状及未来，????机器人技术与应用，1998
[2] 孙迪生 王炎, 机器人控制技术, 机械工业出版社，1997
[3] Windows-based PC Robot Controller，???YASKAWA News Release , 1997,10
[4]汪成为 面向对象分析、设计及应用 国际工业出版社 1992
[5] 赖维德，工业机器人技术，机器人文摘，2002，6
[6] Safaric, R.; Jezernik, M.;?Trajectory tracking neural network robot control applications Industrial Electronics, Proceedings of the IEEE International Symposium on Robotics and Automation, June 1996 pp: 963 -968
[7] Horowitz, R.; Kao, W.-W.; Boals, M.; Sadegh, N.;Digital implementation of repetitive controllers for robotic manipulators, Proceedings of the IEEE International Conference on Robotics and Automation, May 1989 pp: 1497 -1503
[8] Lee, M.C.; Son, K.; Lee, J.M.; Integrated SCARA robot control system with OLP and its performance evaluation, Proceedings of the 36th SICE Annual Conference. International Session Papers , July 1997 pp: 1125 -1129
[9] Tomiyama, K.; Honda, F.; Shinoda, H.; Tanaka, J.;?A robot control system based on a UNIX work-station , Proceedings of IEEE International Conference on Systems Engineering, Aug. 1991 pp: 125 -128
[10] Safaric, R., Jezernik, K. . Trajectory tracking neural network controller for a robot mechanism and Lyapunov theory of stability, Proceedings of the IEEE/RSJ/GI International Conference Sept. 1994 pp: 626 -633
[11]Dong-Il Kim,et ; Full digital controller of permanent magnet AC servo motor for industrial robot and CNC machine tool , Proceedings of 20th International Conference on Industrial Electronics, Sept. 1994 pp: 1015 -1021
[12] 周学才等，开放式机器人通用控制系统，机器人,1998,20(1)
[13] Yuchen Zhou; de Silva, C.W.;Adaptive control of an industrial robot retrofitted with an open-architecture controller; American Control Conference, 1995.
[14] 国家863计划智能机器人主题课题申请指南（1998-1999年度）.智能机器人主题专家组,1998.3
[15] willian E Ford. What is an Open Architecture Robot Controller? IEEE Internatianal Symposium on Intelligent Control. 1994.
[16] 黄闪 王越超 谈大龙，先进制造技术与新型控制器的研究，机器人，1996，18增刊
[17] 周远清等，智能机器人系统，清华大学出版社，1989
[18] 张爱红 张秋菊，机器人示教编程方法，组合机床与自动化加工技术，2003，4
[19]樊泽明等，一种新型温联切削机器人控制软件开放体系结构的研究，组合机床与自动化加工技术，2002，3
[20]李智 刘宝霞， 基于OSACA的开放式机器人控制体系结构的研究，组合机床与自动化加工技术，2003，3
[21] 谈世哲等，基于DSP的工业机器人控制器的设计与实现，机器人，2002，3
[22] 谈世哲 杨汝清，基于SCARA本体的开放式机器人运动学分析与动力学建模，组合机床与自动化加工技术，2001，10
[23] 张广立等，基于Windows NT的开放式机器人控制系统，机器人，2002，9
[24] 冯光涛等，机器人装配操作的规划与控制，机器人，2001，1
[25] 虞忠伟 陈解堂，基于Windows环境下硬件中断的机器人关节控制器设计，电气自动化，2000，2
[26] 彭商贤 方浩天 张平， 装配机器人高精度定位补偿系统，机器人，1992，2
[27] 蔡自兴，机器人学，清华大学出版社，2000
[28] 熊有伦，机器人技术基础，1996
[29] Ritcher.J, Windows高级编程指南（王书洪等译），清华大学出版社，2000
[30] 田海宴 邓双成，Windows环境下多路数据采集系统的实时性研究，小型微计算机系统，2000，10
[31汤子瀛 哲凤屏 汤小丹，计算机操作系统，西安西安电子科技大学出版社，1998
[32]王飞等，Windows应用程序的实时性编程技术，西安交通大学学报，2001，11
[33]Feng Lin;Robot D.Brandt; An Optimal Control Approach to Robust Control of Robot Manipulators, Proceedings of 1996 IEEE International Conference on Control Applications, 1996.9
[34]J.Y.S.Lub; M.W.Walker ; On-line computation schemes for mechanical manipulators, Transaction ASMB Journal of Dynamic Systems, Measurement and control, Vol.102,pp-69-76, 1980.
[35]W.Verdonck and J.Swevers; Improving the dynamic accuracy of industrial robots by trajectory pre-compensation, Procedeings of International Conference on Robotics and Automation,pp.3423-3428, May, 2002
[36]K.Otani; T.Kakizaki et al; Dynamic parameter identification of an industrial robot and its application on trajectory controls,Procedings of International Conference on Intelligent Robots and System,pp.490-997, July, 1992
[37]J.Swevers, C.Ganseman et at; optimal robot excitation and identification, IDDD transaction on Robotics and Automation, Vol.13, no.5, pp.730-740, 1997.
[38]焦李成 ,神经网络系统理论,西安电子科技大学出版社 西安 1990
[39] Mohseni.C; Willgoss.R.A; Industrial Electronics, Control and Instrumentation , Proceedings. IECON '91., 1991 International Conference on , 28 Oct.-1 Nov. 1991 Page(s): 1005 -1010 vol.2
[40] Galil Motion Control ,Inc. DMC-18x2用户手册,1999
[41] Galil Motion Control ,Inc. DMC编程手册，1999
[2] 孙迪生 王炎, 机器人控制技术, 机械工业出版社，1997
[3] Windows-based PC Robot Controller，???YASKAWA News Release , 1997,10
[4]汪成为 面向对象分析、设计及应用 国际工业出版社 1992
[5] 赖维德，工业机器人技术，机器人文摘，2002，6
[6] Safaric, R.; Jezernik, M.;?Trajectory tracking neural network robot control applications Industrial Electronics, Proceedings of the IEEE International Symposium on Robotics and Automation, June 1996 pp: 963 -968
[7] Horowitz, R.; Kao, W.-W.; Boals, M.; Sadegh, N.;Digital implementation of repetitive controllers for robotic manipulators, Proceedings of the IEEE International Conference on Robotics and Automation, May 1989 pp: 1497 -1503
[8] Lee, M.C.; Son, K.; Lee, J.M.; Integrated SCARA robot control system with OLP and its performance evaluation, Proceedings of the 36th SICE Annual Conference. International Session Papers , July 1997 pp: 1125 -1129
[9] Tomiyama, K.; Honda, F.; Shinoda, H.; Tanaka, J.;?A robot control system based on a UNIX work-station , Proceedings of IEEE International Conference on Systems Engineering, Aug. 1991 pp: 125 -128
[10] Safaric, R., Jezernik, K. . Trajectory tracking neural network controller for a robot mechanism and Lyapunov theory of stability, Proceedings of the IEEE/RSJ/GI International Conference Sept. 1994 pp: 626 -633
[11]Dong-Il Kim,et ; Full digital controller of permanent magnet AC servo motor for industrial robot and CNC machine tool , Proceedings of 20th International Conference on Industrial Electronics, Sept. 1994 pp: 1015 -1021
[12] 周学才等，开放式机器人通用控制系统，机器人,1998,20(1)
[13] Yuchen Zhou; de Silva, C.W.;Adaptive control of an industrial robot retrofitted with an open-architecture controller; American Control Conference, 1995.
[14] 国家863计划智能机器人主题课题申请指南（1998-1999年度）.智能机器人主题专家组,1998.3
[15] willian E Ford. What is an Open Architecture Robot Controller? IEEE Internatianal Symposium on Intelligent Control. 1994.
[16] 黄闪 王越超 谈大龙，先进制造技术与新型控制器的研究，机器人，1996，18增刊
[17] 周远清等，智能机器人系统，清华大学出版社，1989
[18] 张爱红 张秋菊，机器人示教编程方法，组合机床与自动化加工技术，2003，4
[19]樊泽明等，一种新型温联切削机器人控制软件开放体系结构的研究，组合机床与自动化加工技术，2002，3
[20]李智 刘宝霞， 基于OSACA的开放式机器人控制体系结构的研究，组合机床与自动化加工技术，2003，3
[21] 谈世哲等，基于DSP的工业机器人控制器的设计与实现，机器人，2002，3
[22] 谈世哲 杨汝清，基于SCARA本体的开放式机器人运动学分析与动力学建模，组合机床与自动化加工技术，2001，10
[23] 张广立等，基于Windows NT的开放式机器人控制系统，机器人，2002，9
[24] 冯光涛等，机器人装配操作的规划与控制，机器人，2001，1
[25] 虞忠伟 陈解堂，基于Windows环境下硬件中断的机器人关节控制器设计，电气自动化，2000，2
[26] 彭商贤 方浩天 张平， 装配机器人高精度定位补偿系统，机器人，1992，2
[27] 蔡自兴，机器人学，清华大学出版社，2000
[28] 熊有伦，机器人技术基础，1996
[29] Ritcher.J, Windows高级编程指南（王书洪等译），清华大学出版社，2000
[30] 田海宴 邓双成，Windows环境下多路数据采集系统的实时性研究，小型微计算机系统，2000，10
[31汤子瀛 哲凤屏 汤小丹，计算机操作系统，西安西安电子科技大学出版社，1998
[32]王飞等，Windows应用程序的实时性编程技术，西安交通大学学报，2001，11
[33]Feng Lin;Robot D.Brandt; An Optimal Control Approach to Robust Control of Robot Manipulators, Proceedings of 1996 IEEE International Conference on Control Applications, 1996.9
[34]J.Y.S.Lub; M.W.Walker ; On-line computation schemes for mechanical manipulators, Transaction ASMB Journal of Dynamic Systems, Measurement and control, Vol.102,pp-69-76, 1980.
[35]W.Verdonck and J.Swevers; Improving the dynamic accuracy of industrial robots by trajectory pre-compensation, Procedeings of International Conference on Robotics and Automation,pp.3423-3428, May, 2002
[36]K.Otani; T.Kakizaki et al; Dynamic parameter identification of an industrial robot and its application on trajectory controls,Procedings of International Conference on Intelligent Robots and System,pp.490-997, July, 1992
[37]J.Swevers, C.Ganseman et at; optimal robot excitation and identification, IDDD transaction on Robotics and Automation, Vol.13, no.5, pp.730-740, 1997.
[38]焦李成 ,神经网络系统理论,西安电子科技大学出版社 西安 1990
[39] Mohseni.C; Willgoss.R.A; Industrial Electronics, Control and Instrumentation , Proceedings. IECON '91., 1991 International Conference on , 28 Oct.-1 Nov. 1991 Page(s): 1005 -1010 vol.2
[40] Galil Motion Control ,Inc. DMC-18x2用户手册,1999
[41] Galil Motion Control ,Inc. DMC编程手册，1999
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