Design of Control System for Educational Robot with Six-Degree Freedom

摘要

In order to develop a friendlier human-machine interface, more precise control of the six degree of freedom robot will be achieved. The manipulator is driven by PLC which is programmed in TIA Portal V14, and PLC is responsible to keeping up with the upper computer. The communication mode is TCP/IP communication protocol, and the upper computer is developed by using Socket technology under C++MFC environment. Kinematics analysis of the manipulator is carried out by D-H parameter method and embedded into the upper computer program <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[9]</sup> . Finally, the absolute positioning control of the manipulator is realized. Through the visualized human-computer interface, the motion process and control principle of learning six degrees of freedom robot can be understood in a more depth.