【摘要】 以IPC+DSP作为六自由度工业机器人的控制器,设计了一种基于可编程多轴控制器PMAC(Programmable Multi-Axies Controller)的开放式机器人控制系统。采用VisualC++编制控制程序,将机器人系统中管理、控制功能的实现分为若干个模块,负责底层伺服驱动的函数利用PMAC运动语言编写,可直接调用。整个控制软件能完成数据及运动状态显示、伺服驱动、机器人路径规划及定位等任务。实践证明该机器人控制系统运行平稳。更多还原

【Abstract】 An open architecture of robotic control system based on VC++ and PMAC (Programmable Multi—Axis Controller) was de-signed with IPC(Industrial Personal Computer)plus DSP(Digital signal processor) structure. By using Visual C++,the control software is edited for the robot system based on PMAC. The managing and control functions are realized by dividing them into several parts. The bottom drive language to control the robot is compiled by PMAC language. The whole control software is used for display of im-portant data and status,servo driving,robot path planning and positing. The practices prove that the run of this control system is steady.更多还原