开放式结构平台上PUMA560机器人控制系统的研究
摘要
机器人技术在各个行业得到了广泛应用，已经成为自动化生产的主要组成部分。计算机技术与控制方法的快速发展，大大拓展了机器人技术应用的灵活性，更是对控制系统的性能、系统的结构等多方面都产生了极为深刻的影响。机器人控制系统由封闭向开放转变成为一种趋势。
本文对PUMA560机器人VAL-Ⅱ控制器进行了深入研究，以PMAC(ProgrammableMulti-Axies Controller)代替原控制器，将其改造成为具有开放式结构的控制器。本文讨论了改造的过程，改造方法已在本实验室PUMA560机器人上进行了验证。改造后的控制器基于工业PC和WINDOWS操作系统，突破了传统工业机器人封闭式结构，并具有良好可拓展性，在功能上既具备了工业机器人控制器的基本特性，同时又是一个良好的机器人控制算法实验平台。对于机器人控制工程来说，这种方法具有一定的理论价值和实际的工程意义。
本论文分为七个章节。
第一章首先扼要叙述了机器人技术的现状和最新发展趋势；然后介绍了机器人控制器的发展状况和发展方向，着重介绍了现有控制器的不足；接着介绍了开放式控制器的思想及其优点；最后指出了对PUMA560控制器进行改造的可能性，指出了本文研究的主要内容。
第二章首先介绍了PUMA560机器人的结构及特点；接着研究分析了PUMA560机器人控制系统，详细介绍了控制器各个主要部件在控制系统中的作用。
第三章对PMAC的软硬件进行了详细的分析研究，给出了PUMA560机器人控制器改造的策略与步骤。
第四章以对PUMA560控制器的分析为基础，详细说明了把原控制器改造成开放式控制器的过程；最后对机器人各关节的相对位置进行了标定。
第五章在对机器人建立了D-H坐标系的基础上，给出了机器人的运动学方程；然后运用机器人逆运动学的知识对PUMA560进行逆运动学求解，得到各个关节变量的封闭解。
第六章先简单介绍了C~H语言的特点，接着对用C~H编写的与PMAC进行通讯、PUMA560机器人控制系统初始化及机器人运动控制程序进行了说明。
第七章是总结和展望。
Robot technique is the key componen of automatic production and has been widely applied in every industry or trade. With the rapid development of computer technique and control method, not only the application adaptability of robot technique has been greatly widened, but has had a deepgoing influence on the performance and the structure of control system. That robot control system changed from close to open is becoming a trend.
This thesis deeply researches on PUMA560 VAL-II controller. On the basis of it the original controller is retrofitted to be an open architecture one with the VAL-n controller instead by PMAC (Programmable Multi-Axies Controller) . The details of retrofitting are discussed here. All method presented in this thesis are verified with experimental PUMA560 robot in our lab. The retrofitted controller is based upon industrial PC and WINDOWS operating system. It breaks through the close architecture of traditional industrial robot and has favourable expandability. It not only possesses the fundamental characteristics of common industrial robot controller, but is an approved control algorithm
experimental platform of robot. The researches are essential both in theory and engineer in robot control engineering.
The whole thesis consists of seven sections.
Chapter one first briefly states the current application situation and the frontiers of robot technique, then introduces the current development state and the trend of robot controller, especially introduces the lack of current controller, then the concept and advantages of open architecture controller. In the end this chapter points out the possibility of retrofitting PUMA560 robot controller and the subjects of main research work.
Chapter two firstly introduces the architecture and characteristics of PUMA560, then the control system of the robot is researched and analyzed and the function of the main
part of the controller is presented.
In chanpter three, the software and hardware of PMAC are researched and analyzed deeply. The retrofitting strategy and step of PUMAS 60 controller are presented.
Based on the analyzing of PUMAS 60 controller, chapter four presents the process of retrofitting the original controller to be an open architecture one particularly. At the end of this chapter the relative position of each joint of the robot is calibrated and ascertained.
Based on the establish of D-H coordinate system, chapter five presents the kinematics equation of the robot, then gives the reverse kinematics solution according to the knowledge of robot reverse kinematics. And the close solution of each joint variable is gotten.
In chapter six, the characteristics of CH language are introduced firstly, then the programes writtien in CH including how to communicate with PMAC, the robot motion control and the initialization of the new control system are presented.
Chapter seven presents the summary of this thesis and the probable work in the future.
本文对PUMA560机器人VAL-Ⅱ控制器进行了深入研究，以PMAC(ProgrammableMulti-Axies Controller)代替原控制器，将其改造成为具有开放式结构的控制器。本文讨论了改造的过程，改造方法已在本实验室PUMA560机器人上进行了验证。改造后的控制器基于工业PC和WINDOWS操作系统，突破了传统工业机器人封闭式结构，并具有良好可拓展性，在功能上既具备了工业机器人控制器的基本特性，同时又是一个良好的机器人控制算法实验平台。对于机器人控制工程来说，这种方法具有一定的理论价值和实际的工程意义。
本论文分为七个章节。
第一章首先扼要叙述了机器人技术的现状和最新发展趋势；然后介绍了机器人控制器的发展状况和发展方向，着重介绍了现有控制器的不足；接着介绍了开放式控制器的思想及其优点；最后指出了对PUMA560控制器进行改造的可能性，指出了本文研究的主要内容。
第二章首先介绍了PUMA560机器人的结构及特点；接着研究分析了PUMA560机器人控制系统，详细介绍了控制器各个主要部件在控制系统中的作用。
第三章对PMAC的软硬件进行了详细的分析研究，给出了PUMA560机器人控制器改造的策略与步骤。
第四章以对PUMA560控制器的分析为基础，详细说明了把原控制器改造成开放式控制器的过程；最后对机器人各关节的相对位置进行了标定。
第五章在对机器人建立了D-H坐标系的基础上，给出了机器人的运动学方程；然后运用机器人逆运动学的知识对PUMA560进行逆运动学求解，得到各个关节变量的封闭解。
第六章先简单介绍了C~H语言的特点，接着对用C~H编写的与PMAC进行通讯、PUMA560机器人控制系统初始化及机器人运动控制程序进行了说明。
第七章是总结和展望。
Robot technique is the key componen of automatic production and has been widely applied in every industry or trade. With the rapid development of computer technique and control method, not only the application adaptability of robot technique has been greatly widened, but has had a deepgoing influence on the performance and the structure of control system. That robot control system changed from close to open is becoming a trend.
This thesis deeply researches on PUMA560 VAL-II controller. On the basis of it the original controller is retrofitted to be an open architecture one with the VAL-n controller instead by PMAC (Programmable Multi-Axies Controller) . The details of retrofitting are discussed here. All method presented in this thesis are verified with experimental PUMA560 robot in our lab. The retrofitted controller is based upon industrial PC and WINDOWS operating system. It breaks through the close architecture of traditional industrial robot and has favourable expandability. It not only possesses the fundamental characteristics of common industrial robot controller, but is an approved control algorithm
experimental platform of robot. The researches are essential both in theory and engineer in robot control engineering.
The whole thesis consists of seven sections.
Chapter one first briefly states the current application situation and the frontiers of robot technique, then introduces the current development state and the trend of robot controller, especially introduces the lack of current controller, then the concept and advantages of open architecture controller. In the end this chapter points out the possibility of retrofitting PUMA560 robot controller and the subjects of main research work.
Chapter two firstly introduces the architecture and characteristics of PUMA560, then the control system of the robot is researched and analyzed and the function of the main
part of the controller is presented.
In chanpter three, the software and hardware of PMAC are researched and analyzed deeply. The retrofitting strategy and step of PUMAS 60 controller are presented.
Based on the analyzing of PUMAS 60 controller, chapter four presents the process of retrofitting the original controller to be an open architecture one particularly. At the end of this chapter the relative position of each joint of the robot is calibrated and ascertained.
Based on the establish of D-H coordinate system, chapter five presents the kinematics equation of the robot, then gives the reverse kinematics solution according to the knowledge of robot reverse kinematics. And the close solution of each joint variable is gotten.
In chapter six, the characteristics of CH language are introduced firstly, then the programes writtien in CH including how to communicate with PMAC, the robot motion control and the initialization of the new control system are presented.
Chapter seven presents the summary of this thesis and the probable work in the future.
引文
1．蔡自兴，机器人学，清华大学出版社，2000
2．刘进长，机器人产业化漫谈，机器人技术与应用，1999(4)
3．金茂菁，曲忠萍，张桂华，国外工业机器人发展态势分析，机器人技术与应用，2001(2)
4. Bekey, G., A., Needs for Robotics in Emerging Applications: A Research Agenda, IEEE Robotics & Automation Magazine, 1997, 4(4)
5．世界机器人最新统计数据，机器人技术与应用，2000(1)
6．蔡自兴，机器人学的发展趋势和发展战略，机器人技术与应用，2001(4)
7．龚振邦，从国际大环境出发在我国机器人技术和产业发展战略上的若干思考，机器人，1999(6)
8．陈佩云，金茂菁，曲忠萍，我国工业机器人发展现状，机器人技术与应用，2001(1)
9．索鸿英，中国机器人迈向新世纪，新技术，1998(2)
10．机器人技术软科学研究组，我国机器人技术需求分析与研究重点探讨，机器人技术与应用，2001(2)
11．曲道奎，张念哲，机器人技术的新进展，2000高技术发展报告，2000
12．范永，谭民，机器人控制器的现状及展望，机器人，1999(1)
13．孙迪生，王炎著．机器人控制技术．机械工业出版社，1997
14. Luh J Y S. Scheduling of Parallel Computation for a Computer Controlled Mechanical Manipulator. IEEE Trans on Syst Man Cyber,1982, SMC-12 (2)
15．张亮，马莉波．一种基于DSP的通用互连网络设计方法．微处理机，1997，4
16．方滨．基于多数字信号处理器系统的机器人控制器．机器人，1990，12(6)
17. Hironori Kasahara, Seinosuke Narita.Parallel Processing of Robot-arm Control Computationon a Multimicro-processor System. IEEE J of Robotics and Automation, 1985, RA-1(2)
18．陈文刚，常文森等．GKD-1通用机器人多微处理机控制方法．机器人，1992，14(4)
19. Goldstein, B. L. M., et al, Technologies for the Integration of Manufacturing Applications, Advanced Technology Program, 1995, 5
20. Wright, Paul K., Principles of Open-Architecture Manufacturing, Journal of Manufacturing System, 1995, 14(3)
21．李开生，张慧慧，费仁元，宗光华，机器人控制体系结构研究的现状和发展，机器人，2000，22(3)
22．孙斌，杨汝清，开放式机器人控制器综述，机器人，2001，23(4)
23．王涛等，开放式控制系统的研究现状，机械工程师，1999(10)
24．周祖德，魏仁选，陈幼平，开放式控制系统的现状、趋势与对策，中国机械工程，1999(10)
25. Anonymous, Open Architecture: Mythor Pipe Dream, Robotics World, 1996
26. Willian E Ford. What is an Open Architecture Robot Controller? IEEE International Symposium on Intelligent Control. 1994
27．周学才等，开放式机器人通用控制系统，机器人，1998，20(1)
28．王树国等．智能机器人的现状及未来．机器人技术与应用，1998
29. Windows-based PC Robot Controller. YASKAWA News Release , 1997,10
30．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
31．王宇晗，吴祖育，陆志强，李宇昊，开放式控制器对数控机床低成本改造的策略，机械设计与研究，2000(1)
32. Unimation, Unimate PUMA Mark Ⅱ Robot 500 Series Equipment Manual for Val Ⅱ and Val Ⅱ Plus Operation Systems, Westinghouse Company, March 1985
33. Unimation, Unimate PUMA Mark Ⅱ Robot 500 Series Electrical Drawing Set for Val Ⅱ and Val Ⅱ Plus Operation Systems, IBM Hardware Library, International Business Machines Corporation, 1986
34. Corke, Peter Ⅰ., Armstrong-Helouvry, Brian, A Search for Consensus
Among Model Parameters Reported for the Puma 560 Robot, CISRO DIV Manufacturing Technology, 1989
35. Unimation, Unimate Industrial Robot Programming Manual User' s Guide to Val Ⅱ Version 2.0, Westinghouse Company, December 1985
36. Delta Tau Data Systems, PMAC-PC Hardware Manual, July 1997
37．石林锁，可编程多轴控制器(PMAC)及其应用，新技术新工艺，1995(6)
38．潘炼东，黄心汉，基于PMAC的机器人控制器设计，华中理工大学学报，2000，28(4)
39．万仁明等，基于PMAC下SCARA机器人控制，机械与电子，2001(1)
40．康华光，电子技术基础(第三版)，高等教育出版社
41．易大义，沈云宝，李有法，计算方法．浙江大学出版社，1989
42．朱世强，王宣银，机器人技术及其应用，浙江大学机械电子控制工程研究所，2000
43．吴振彪，工业机器人，华中理工大学出版社，1997
44．张建民，工业机器人，北京理工大学出版社，1988
45．熊有伦，机器人技术基础，华中理工大学出版社，1996
46．张立强，张也晗，PUMA560机器人运动仿真研究，机械工程师，1995．2
47．毕诸明，蔡鹤皋，六自由度操作手的逆运动学问题，机器人，1994，16(2)
48．王奇志，PUMA机器手逆运动方程新的推导方法及求解，机器人，1998，20(2)
49．谭浩强，C程序设计，清华大学出版社，1988．10
50. Damir P. Vamoser, Puma 560 Simulator, April, 1997
51. Harry H. Cheng, The Ch Language Environment Volume 2 User' s Guide, September2000
52. HU, X. D., and Cheng, H. H., Hardware and Software Configurations for the Robot Workcell, Technical Report TR-IEL-1998-100
2．刘进长，机器人产业化漫谈，机器人技术与应用，1999(4)
3．金茂菁，曲忠萍，张桂华，国外工业机器人发展态势分析，机器人技术与应用，2001(2)
4. Bekey, G., A., Needs for Robotics in Emerging Applications: A Research Agenda, IEEE Robotics & Automation Magazine, 1997, 4(4)
5．世界机器人最新统计数据，机器人技术与应用，2000(1)
6．蔡自兴，机器人学的发展趋势和发展战略，机器人技术与应用，2001(4)
7．龚振邦，从国际大环境出发在我国机器人技术和产业发展战略上的若干思考，机器人，1999(6)
8．陈佩云，金茂菁，曲忠萍，我国工业机器人发展现状，机器人技术与应用，2001(1)
9．索鸿英，中国机器人迈向新世纪，新技术，1998(2)
10．机器人技术软科学研究组，我国机器人技术需求分析与研究重点探讨，机器人技术与应用，2001(2)
11．曲道奎，张念哲，机器人技术的新进展，2000高技术发展报告，2000
12．范永，谭民，机器人控制器的现状及展望，机器人，1999(1)
13．孙迪生，王炎著．机器人控制技术．机械工业出版社，1997
14. Luh J Y S. Scheduling of Parallel Computation for a Computer Controlled Mechanical Manipulator. IEEE Trans on Syst Man Cyber,1982, SMC-12 (2)
15．张亮，马莉波．一种基于DSP的通用互连网络设计方法．微处理机，1997，4
16．方滨．基于多数字信号处理器系统的机器人控制器．机器人，1990，12(6)
17. Hironori Kasahara, Seinosuke Narita.Parallel Processing of Robot-arm Control Computationon a Multimicro-processor System. IEEE J of Robotics and Automation, 1985, RA-1(2)
18．陈文刚，常文森等．GKD-1通用机器人多微处理机控制方法．机器人，1992，14(4)
19. Goldstein, B. L. M., et al, Technologies for the Integration of Manufacturing Applications, Advanced Technology Program, 1995, 5
20. Wright, Paul K., Principles of Open-Architecture Manufacturing, Journal of Manufacturing System, 1995, 14(3)
21．李开生，张慧慧，费仁元，宗光华，机器人控制体系结构研究的现状和发展，机器人，2000，22(3)
22．孙斌，杨汝清，开放式机器人控制器综述，机器人，2001，23(4)
23．王涛等，开放式控制系统的研究现状，机械工程师，1999(10)
24．周祖德，魏仁选，陈幼平，开放式控制系统的现状、趋势与对策，中国机械工程，1999(10)
25. Anonymous, Open Architecture: Mythor Pipe Dream, Robotics World, 1996
26. Willian E Ford. What is an Open Architecture Robot Controller? IEEE International Symposium on Intelligent Control. 1994
27．周学才等，开放式机器人通用控制系统，机器人，1998，20(1)
28．王树国等．智能机器人的现状及未来．机器人技术与应用，1998
29. Windows-based PC Robot Controller. YASKAWA News Release , 1997,10
30．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
31．王宇晗，吴祖育，陆志强，李宇昊，开放式控制器对数控机床低成本改造的策略，机械设计与研究，2000(1)
32. Unimation, Unimate PUMA Mark Ⅱ Robot 500 Series Equipment Manual for Val Ⅱ and Val Ⅱ Plus Operation Systems, Westinghouse Company, March 1985
33. Unimation, Unimate PUMA Mark Ⅱ Robot 500 Series Electrical Drawing Set for Val Ⅱ and Val Ⅱ Plus Operation Systems, IBM Hardware Library, International Business Machines Corporation, 1986
34. Corke, Peter Ⅰ., Armstrong-Helouvry, Brian, A Search for Consensus
Among Model Parameters Reported for the Puma 560 Robot, CISRO DIV Manufacturing Technology, 1989
35. Unimation, Unimate Industrial Robot Programming Manual User' s Guide to Val Ⅱ Version 2.0, Westinghouse Company, December 1985
36. Delta Tau Data Systems, PMAC-PC Hardware Manual, July 1997
37．石林锁，可编程多轴控制器(PMAC)及其应用，新技术新工艺，1995(6)
38．潘炼东，黄心汉，基于PMAC的机器人控制器设计，华中理工大学学报，2000，28(4)
39．万仁明等，基于PMAC下SCARA机器人控制，机械与电子，2001(1)
40．康华光，电子技术基础(第三版)，高等教育出版社
41．易大义，沈云宝，李有法，计算方法．浙江大学出版社，1989
42．朱世强，王宣银，机器人技术及其应用，浙江大学机械电子控制工程研究所，2000
43．吴振彪，工业机器人，华中理工大学出版社，1997
44．张建民，工业机器人，北京理工大学出版社，1988
45．熊有伦，机器人技术基础，华中理工大学出版社，1996
46．张立强，张也晗，PUMA560机器人运动仿真研究，机械工程师，1995．2
47．毕诸明，蔡鹤皋，六自由度操作手的逆运动学问题，机器人，1994，16(2)
48．王奇志，PUMA机器手逆运动方程新的推导方法及求解，机器人，1998，20(2)
49．谭浩强，C程序设计，清华大学出版社，1988．10
50. Damir P. Vamoser, Puma 560 Simulator, April, 1997
51. Harry H. Cheng, The Ch Language Environment Volume 2 User' s Guide, September2000
52. HU, X. D., and Cheng, H. H., Hardware and Software Configurations for the Robot Workcell, Technical Report TR-IEL-1998-100