可配置模块化工业机器人运动控制系统研究
Research on Configurable Modular Motion Control System of Industrial Robot

针对工业机器人控制系统存在封闭性高，二次开发难度大、结构复杂、技术升级困难等弊端，在保证机器人稳定运行的前提下，基于LinuxCNC设计构建一套可配置工业机器人运动控制系统，通过集成RTAI实时补丁，编写机器人控制算法，对机器人进行实时运动规划。为了验证模块化的系统架构设计可以适应不同机器人系统的运行要求，对工业机器人原型系统样机上进行了验证，根据驱动设备和系统需求，完成NC配置文件和通讯配置文件。通过对实验数据分析和处理，验证了运动控制系统的可行性。
In view of the existing high closure, difficult secondary development, complex structure, upgrade technology and other defects of industrial robot control system, a configurable modular industry robot motion control system is constructed based on LinuxCNC in this paper. On the premise of ensuring the stable operation of the robot, through the integration of real-time RTAI patch, robot control algorithm is programmed to real-time plan the robot motion control system. In order to verify the modular system architecture design can adapt to the operation requirements of different robot systems, a prototype system of industrial robot is used to verify the effectiveness and feasibility of the robot motion control system. According to the drive equipment and system requirements, the NC configuration file and communication configuration file is completed. The feasibility of the motion control system is verified by analyzing and processing the experimental data