【作者】 何永义；

【导师】 方明伦；

【作者基本信息】 上海大学 ， 机械设计及理论， 2001， 博士

【摘要】 本文在广泛收集和综合国内外有关文献基础上，论述了当前机器人控制器的研究现状和发展趋势。提出以工业PC微机为硬件平台，以Windows操作系统为软件平台，开发研制机器人控制器。为解决基于视窗平台机器人控制器的实时性等难题，深入研究了基于视窗的机器人控制技术，作者成功研制了“基于工业PC和视窗(Windows95／NT)平台的机器人控制器”。 本文主要研究内容包括：机器人发展状况和趋势、基于视窗机器人控制器的硬件结构和软件结构、基于Windows 95设备驱动程序研究及实现、设备驱动程序与应用程序的接口技术、多线程及异步程序设计技术、Windows NT设备驱动程序设计、机器人控制算法、机器人运动和受力异常检测的智能控制算法及实验、机器人远程监控技术和仿真等。 第一章简述了机器人概况、机器人和控制器的发展历史和趋势。分析了国内外典型控制器的控制结构，并对PUMA-560和我国精密1号机器人控制系统的分级控制结构进行了描述，阐述基于视窗和工业PC机器人控制器是机器人控制器重要发展方向。 第二章简述了机器人实验平台，机器人控制器主要的硬件和软件组成，论述了机器人控制器硬件组成，硬件具有实时中断功能，详细分析了多轴伺服控制卡及控制器主要硬件的原理功能。 第三章对术语Win32及有关特性进行了详细解释。介绍了2001年上海大学博士学位论文机器人控制器控制软件的体系结构，控制软件的主要组成模块，详细论述主要模块的功能和特点，模块间的通信和调度. 第四章分析了V西ndows95硬件设备驱动程序机制，对中断、I/O及V西ndows95操作系统体系及相关技术进行了分析，介绍了虚拟机vM、虚拟机管理器vMM.详细阐述了vxD的结构及设备驱动程序的设计方法. 第五章论述了多线程技术，采用多线程和异步设计技术，加快了应用程序的响应速度，极大提高了CPU的利用率和协调后台任务的能力，使控制器具有多任务执行的能力.灵活利用异步技术构造了高效、快速、强大和健壮的应用程序. 第六章论述了设备驱动程序与应用程序的通信机制，实现了中断实时获得数据和快速的响应，针对机器人控制器的伺服控制卡和FO卡，设计了设备驱动程序与应用程序的接口.并对程序接口进行了封装. 第七章用D一H法求解了实验平台Pr一500机器人控制器的运动控制算法，采用神经网络设计了智能控制算法，并阐述了机器人智能控制算法的作用及有关算法程序的设计. 第八章论述了样本如何采集和处理，多种网络的训练、仿真，其中LM法BP网络具有比较快的收敛速度，仿真结果在误差范围之内，符合实际输出.所以在机器人运动或受力异常检测中，选用了LM法BP网，实验取得了成功. 第九章详细介绍了机器人网络通信功能的作用及实现手段.简要说明Windows 95lNT的通信方式、V肖nsock基本原理，在机器人控制器中采用winsock技术，使机器人控制器具有网络通信功能，论述了机器人的三维建模及仿真技术， 第十章简要比较了W知dowsN，r 4.0和Windows95，对 基于视窗平合的机器人控制技术研究及实现windows Nl，4.0硬件设备驱动程序进行了研究，并设计了有关设备驱动程序，实现基于NT的机器人控制器. 第十一章对全文进行了总结，介绍了基于视窗平台机器人控制器的特点和优越性.并为“基于视窗平台的机器人控制器”的进一步研究，提出了自己的建议.更多还原

【Abstract】 In this dissertation, the development and trend of robot controller are described; the architecture of robot controller are proposed based on Windows; the robot control technology is lucubrated to ensure the real time control of robot; a Windows-based robot controller is developed and applied to a robot.The Windows-based robot controller is deeply researched. The main contents in this dissertation are as follows, summarization of robot development history, the hardware composition of the controller, the software configuration of the controller; VxD development based on Windows 95 and Windows NT; the interface technology between virtual device driver and applications; multi-thread and asynchronous design technology; robot motion control algorithms and intelligent control algorithms; robot remote monitor technology etc.Chapter 1, robot development history and trend are described. The structure of domestic and overseas robot controller, emphasis on PUMA-560 and domestic precision robot No.1, are introduced.Chapter 2, the experiment platform is illustrated; the controller is consisted of the hardware and software; the construction of hardware of the controller, functions of multi-axis servo-control card and other hardware are analyzed.Chapter 3, the glossary of Win32 and concerned features areexplicated; the systematic structure and control software modules are introduced; both the functions and features of main modules, the communication and scheduling among modules are illustrated.Chapter 4, the mechanism of virtual device driver, interrupt, I/O, Windows 95 operation system and relational technology are presented; the concept of VM and VMM are introduced; the structure and the design method of VxD are described in detail.Chapter 5, multi-thread technologies quicken the response velocity, improve the efficiency of CPU and ability of corresponding background tasks that make the controller having the ability of executing multi-tasks; asynchronism technology is utilized to develop high effective and haleness applications.Chapter 6, the communication mechanisms between VxD and applications are described in detail. Interface between VxDs (VxD of servo-control card and VxD of I/O card) and applications are developed and encapsulated.Chapter 7, the robot motion control algorithms and intelligent control algorithms are solved; the function of algorithms is explained; procedures of algorithms are developed.Chapter 8, samples are collected and neural networks are trained and simulated. The LM BP network has fast convergence velocity; the aim of the simulation experiment is achieved by using the LM BP network; the simulation result are all less than permission errors in abnormity testing of motion and load of robot.Chapter 9, the network communication functions of the robot controller and means of implementing these functions are presentedin detail; The communication mode of Windows95/NT and the basic principles of Winsock are described; the applications of Winsock are discussed in the robot controller.Chapter 10, Windows NT is compared with Windows 95; Virtual device drive of Windows NT is investigated and the VxD of servo-card is developed.Chapter 11, this dissertation is summarized; specifications of the Windows-based robot controllers are illustrated; some proposals are presented based on the controller.更多还原