基于开放式结构的机器人控制系统的研究和设计
摘要
随着科技的发展，机器人技术在各个行业得到了日益广泛的应用，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、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走向开放逐渐成为一种趋势。
本文首先对机器人开放式控制系统的标准和特征进行了研究，随后比较了开放式控制系统的几种实现方式。在此基础上，我们决定研制基于工业计算机+DSP模式的开放式机器人控制系统。为了精确确定机器人手臂末端的位姿及空间运动轨迹，必须对机器人运动学、机器人运动轨迹规划等基本理论进行研究，并运用这些数学工具建立了IGM六自由度关节型机器人连杆坐标系、运动学方程等；同时在比较、分析各种常用插补算法的基础上，结合生产现场的实际情况，我们决定采用CP+PTP的轨迹规划方法。最后在前四章理论研究和分析的基础上，我们设计了IGM弧焊机器人控制系统的硬件和软件。具体包括，硬件部分：弧焊机器人硬件整体系统集成及其工作原理，原系统控制信号的分离和提取，控制系统的开放式设计及组成原理，基于DSP的运动控制卡结构和原理，基于USB接口的触摸屏式遥控示教盒／控制面板的设计，系统抗干扰的软、硬件措施；软件部分：提出了弧焊机器人的三层开放式软件结构模型，软件结构模型与OSACA的模型进行开放性比较，给出软件系统各模块线程间优先级和通讯的解决方案，使用动态链接库技术实现软件模块化设计并给出了框架代码，给出了CP+PTP方式的轨迹规划软件实现过程，Windows2000操作系统实时性问题的讨论及解决方案。
With the development of science and technology, the applications of robots become more and more popular in every industry or trade, which has been a key component of automatic production. Because of the rapid evolution of computer technique and control method, not only has the application
flexibility of robot technique been expanded widely, but also has the performance and structure of control system been made great influence on. Under these circumstances, it is becoming a trend from close to open gradually.
In this dissertation, the standards and characteristics of the open architecture control system for robotic is researched at first, and some realized modes of the open architecture control system is compared as follow . On the basis of discussion above, we decide to develop the open architecture control system for robotic based on IPC +DSP mode. For the purpose of ascertaining the position and orientation of the end of the robotic arms and motion path in space precisely, it must be studied for the basic theories of the robotics kinematics and robot motion path planning, and it is constructed by using these mathematical tools for the orthogonal coordinates of connecting rod clevels and kinematics equations of the 6 degrees of freedom joint robotic; at the same time, under the circumstances of comparing and analyzing kinds of interpolation algorithm, we decide to use the CP+PTP mode to plan the path according to the practical conditions on the spot of production. At last, we design the software and hardware of IGM arc welding robotic control system, based on the theories' studying and analyzing in previous four chapters. It consists of two part, the one is hardware : integrating the system of the arc welding robot's hardwares and its working principles, separating and extracting the original system's control signals, designing the control system openly and its working principles, constructing the structure and principle of the motion card based on DSP, designing the telecontroling teaching box or control panel of touching screen based on USB interface, applying for some software and hardware measures on control system's anti-jamming; the other is software: putting forward the three levels opening software structure model
of arc welding, comparing the opening of software structure model between OSACA and ours, putting forward the solutions of the PRI and communication among the threads of software system's modules, using the DLL's techniques to solve software's module design and putting forward the frame codes, bringing forward the path planning software's realization by CP+PTP mode, discussing the real time of Windows2000 operating system and advancing its solution.
本文首先对机器人开放式控制系统的标准和特征进行了研究，随后比较了开放式控制系统的几种实现方式。在此基础上，我们决定研制基于工业计算机+DSP模式的开放式机器人控制系统。为了精确确定机器人手臂末端的位姿及空间运动轨迹，必须对机器人运动学、机器人运动轨迹规划等基本理论进行研究，并运用这些数学工具建立了IGM六自由度关节型机器人连杆坐标系、运动学方程等；同时在比较、分析各种常用插补算法的基础上，结合生产现场的实际情况，我们决定采用CP+PTP的轨迹规划方法。最后在前四章理论研究和分析的基础上，我们设计了IGM弧焊机器人控制系统的硬件和软件。具体包括，硬件部分：弧焊机器人硬件整体系统集成及其工作原理，原系统控制信号的分离和提取，控制系统的开放式设计及组成原理，基于DSP的运动控制卡结构和原理，基于USB接口的触摸屏式遥控示教盒／控制面板的设计，系统抗干扰的软、硬件措施；软件部分：提出了弧焊机器人的三层开放式软件结构模型，软件结构模型与OSACA的模型进行开放性比较，给出软件系统各模块线程间优先级和通讯的解决方案，使用动态链接库技术实现软件模块化设计并给出了框架代码，给出了CP+PTP方式的轨迹规划软件实现过程，Windows2000操作系统实时性问题的讨论及解决方案。
With the development of science and technology, the applications of robots become more and more popular in every industry or trade, which has been a key component of automatic production. Because of the rapid evolution of computer technique and control method, not only has the application
flexibility of robot technique been expanded widely, but also has the performance and structure of control system been made great influence on. Under these circumstances, it is becoming a trend from close to open gradually.
In this dissertation, the standards and characteristics of the open architecture control system for robotic is researched at first, and some realized modes of the open architecture control system is compared as follow . On the basis of discussion above, we decide to develop the open architecture control system for robotic based on IPC +DSP mode. For the purpose of ascertaining the position and orientation of the end of the robotic arms and motion path in space precisely, it must be studied for the basic theories of the robotics kinematics and robot motion path planning, and it is constructed by using these mathematical tools for the orthogonal coordinates of connecting rod clevels and kinematics equations of the 6 degrees of freedom joint robotic; at the same time, under the circumstances of comparing and analyzing kinds of interpolation algorithm, we decide to use the CP+PTP mode to plan the path according to the practical conditions on the spot of production. At last, we design the software and hardware of IGM arc welding robotic control system, based on the theories' studying and analyzing in previous four chapters. It consists of two part, the one is hardware : integrating the system of the arc welding robot's hardwares and its working principles, separating and extracting the original system's control signals, designing the control system openly and its working principles, constructing the structure and principle of the motion card based on DSP, designing the telecontroling teaching box or control panel of touching screen based on USB interface, applying for some software and hardware measures on control system's anti-jamming; the other is software: putting forward the three levels opening software structure model
of arc welding, comparing the opening of software structure model between OSACA and ours, putting forward the solutions of the PRI and communication among the threads of software system's modules, using the DLL's techniques to solve software's module design and putting forward the frame codes, bringing forward the path planning software's realization by CP+PTP mode, discussing the real time of Windows2000 operating system and advancing its solution.
引文
[1] J. F. Engelberger, "Robotics in Practice", AMACOM, a Division of the American Management Association, New York, 1980。
[2] 白杉，子荫，工业机器人，矿山机械，11，2002，6。
[3] 赖维德，对我国工业机器人的一些看法，中国机械工程，Vol．9，6(2)。
[4] 蔡鹤皋，工业机器人的发展趋势，黑龙江自动化技术与应用，Vol．13，2(3)。
[5] 许守祥，开放式数控系统-欧洲数控业的发展策略，制造技术与机床，1997(3)，4-6。
[6] Golden E Herrin, Open Architecture Controllers (OMAC),Modern Machine Shop,1996(4), 160-162。
[7] Golden E Herrin, Next generation manufacturing system(NGMS), Modern Machine Shop,1997(1), 156-158。
[8] 郭艳玲，赵万生，董本志等，数控发展的趋势—开放式体系结构数控系统，东北林业大学学报，2000(9)，Vol．28，No．5。
[9] Golden E Herrin, Title Ⅲ—Open Architecture Controller Project, Modern Machine Shop, 1995(8): 156-158。
[10] Nillson K, Johansson R, Robotics and Autonomous Systems, 1999,29(4),205。
[11] Fernandz J A, Gonzalez J, Robotics and Computer Integrated Manufacturing, 1999, 15(6), 431。
[12] Fernanze J A, Gonzalez J,NEXUS: a flexible, efficient and robust framework for integrating software component of a robtic system ,Proceedings of the 1998 IEEE International Conference on Robotics& Automation, leuven, Belgium, 1998,5。
[13] Proctor F M,Albus J S, Open -Architecture Controllers,IEEE Spectrum ,1997 (6),60。
[14] Turnbull G, IEE Manufacturing Engineer ,1998(6), 144。
[15] William E.Ford. What is an Open Architecture Robot Controller? 1994 IEEE International Symposium on Intelligent Control, Columbus, Ohio, USA, 1994(8),16-18。
[16] 周学才等，开放式机器人通用控制系统，机器人，1998，20(1)。
[17] 孙斌，杨汝清，开放式机器人控制器综述，机器人，2001，Vol．23。
[18] OMAC Architecture Working Group of the OMAC User Group, OMAC Baseline Architecture Functional Requirements, Jan.25, 2002。
[19] OSACA (Open System Architecture for Controls within Automation systems
ESPRIT Ⅲ project) Final Report, February 21,1996。
[20] "Open System Architecture for Controls within Automation System", EP 6379 & EP 9115, OSACA phase Ⅰ and Ⅱ Project Report。
[21] Jim Kinsella, "Open Automation: a perspective on Connection" Manufacturing Engineering, 1999。
[22] Gerald Schickhuber and Oliver McCarthy, Distributed Fieldbus and Control Network Systems, Computing & Control Engineering Journal, Feb. 1997: 21～32。
[23] Klas Nillson,Software for Embedded DSP's ,Proceedings of the American Control Conference, Altimore ,Maryland, 1994(6)。
[24] 何永义，陈一民等，基于PC工控机及Windows95的机器人通用控制器的研究，机器人，1998，4(1)。
[25] Christian Wurll, Dominik Henrich ,Heinz Worn, Jan Schloen ,Martin Datum, Wolfgang Meier, A distributed Planning and Control System for Industrial Robots, The 5th IEEE International Advanced Motion Control Workshop (AMC'98)。
[26] 郭艳玲，赵万生，董本志，数控发展的趋势—开放式体系结构数控系统，东北林业大学学报，2000，05。
[27] 周惠兴，王先逵，衍生式数控系统，中国机械工程，1998，9(5)，17-19。
[28] 卞立乾，充分利用、改造PC机、促进数控产业的形成和发展，中国机械工程，1998，9(5)，8-10。
[29] XuecaiZhou, QiShi, ZexiangLi, Contact Localization Using Force/Torque Measurements.IEEE International Conference On Robotics and Automation, Minneapolis, 1996,1339～1344。
[30] Golden E Herrin, The Next 40 years of NC, Modern Machine Shop, 1994(4),154-156。
[31] 蔡自兴，机器人学[M]，清华大学出版社，2000，29。
[32] R. P. Paul, "Modeling, Trajectory Calculation and Servoing of a Computer Controlled Arm, " Artificial Intelligence laboratory, Stanford University, 1972,AIM 177。
[33] R. P. Paul, Robot Manipulators: Mathematics, programming and control. MIT Press, Cambridge Mass., 1981。
[34] 高德林，王康华，机器人学导论，上海交通大学出版社，1988，62。
[35] 陈源，机器人计算机控制系统研究，湖南大学硕士学位论文，2000(11)，10-11。
[36] 林尚扬，陈善本，李成桐．焊接机器人及其应用，机械工业出版社，2000，15-26，34。
[37] 孙迪生，王炎．机器人控制技术．机械工业出版社，1997，36-39。
[38] Lee H.Y., liang C.G., A new vector theory for the analysis of spatial mechanisms. Mechanisms and Machine Theory. 1988,23(3),209-217。
[39] Salvatore Cavalieri, Antonella Di Stefano, Orazio Mirabella. IEEE Transactions On Robotics And Automation. February 1997.Vol.13. No.1。
[40] 吴镇炜，谈大龙．机械手空间圆弧运动的一种有效轨迹规划方法．机器人．Jan 1999，Vol．21，No．1，8-12。
[41] 孙迪生，王炎，机器人控制技术，1997，213。
[42] Paul R.P. 1972. "Modeling, Trajectory Calculation, and Servoing of a Computer Controlled Arm," Memo AIM-177; Stanford Artificial Intelligence Laboratory, Palo Alto Calif。
[43] Richard C.L.,Tom Archer.Visual C++6 Bible. 电子工业出版社,2001,8, 765-798。
[44] Inside Visual C++(4th Edition), Copyright 1997 by David J. Kruglinski。
[45] 路明，王平，齐智平，对WindowsNT核心的实时性能分析与测试，计算机工程与应用，2000(12)，48-50。
[46] Chunhao Joseph Lee Pc-based Control Of Robotic and Mechatronic Systems Under Ms-Windows NT Workstation 2001 IEEE/ASME Transactions on Mechatronics Vol.6, NO.3。
[47] Kevin M. Obenland Tiffany Frazier Jin S. Kim John Kowalik The MITRE Corporation 1820 Dolley Madison Blvd. McLean, VA22102。
[2] 白杉，子荫，工业机器人，矿山机械，11，2002，6。
[3] 赖维德，对我国工业机器人的一些看法，中国机械工程，Vol．9，6(2)。
[4] 蔡鹤皋，工业机器人的发展趋势，黑龙江自动化技术与应用，Vol．13，2(3)。
[5] 许守祥，开放式数控系统-欧洲数控业的发展策略，制造技术与机床，1997(3)，4-6。
[6] Golden E Herrin, Open Architecture Controllers (OMAC),Modern Machine Shop,1996(4), 160-162。
[7] Golden E Herrin, Next generation manufacturing system(NGMS), Modern Machine Shop,1997(1), 156-158。
[8] 郭艳玲，赵万生，董本志等，数控发展的趋势—开放式体系结构数控系统，东北林业大学学报，2000(9)，Vol．28，No．5。
[9] Golden E Herrin, Title Ⅲ—Open Architecture Controller Project, Modern Machine Shop, 1995(8): 156-158。
[10] Nillson K, Johansson R, Robotics and Autonomous Systems, 1999,29(4),205。
[11] Fernandz J A, Gonzalez J, Robotics and Computer Integrated Manufacturing, 1999, 15(6), 431。
[12] Fernanze J A, Gonzalez J,NEXUS: a flexible, efficient and robust framework for integrating software component of a robtic system ,Proceedings of the 1998 IEEE International Conference on Robotics& Automation, leuven, Belgium, 1998,5。
[13] Proctor F M,Albus J S, Open -Architecture Controllers,IEEE Spectrum ,1997 (6),60。
[14] Turnbull G, IEE Manufacturing Engineer ,1998(6), 144。
[15] William E.Ford. What is an Open Architecture Robot Controller? 1994 IEEE International Symposium on Intelligent Control, Columbus, Ohio, USA, 1994(8),16-18。
[16] 周学才等，开放式机器人通用控制系统，机器人，1998，20(1)。
[17] 孙斌，杨汝清，开放式机器人控制器综述，机器人，2001，Vol．23。
[18] OMAC Architecture Working Group of the OMAC User Group, OMAC Baseline Architecture Functional Requirements, Jan.25, 2002。
[19] OSACA (Open System Architecture for Controls within Automation systems
ESPRIT Ⅲ project) Final Report, February 21,1996。
[20] "Open System Architecture for Controls within Automation System", EP 6379 & EP 9115, OSACA phase Ⅰ and Ⅱ Project Report。
[21] Jim Kinsella, "Open Automation: a perspective on Connection" Manufacturing Engineering, 1999。
[22] Gerald Schickhuber and Oliver McCarthy, Distributed Fieldbus and Control Network Systems, Computing & Control Engineering Journal, Feb. 1997: 21～32。
[23] Klas Nillson,Software for Embedded DSP's ,Proceedings of the American Control Conference, Altimore ,Maryland, 1994(6)。
[24] 何永义，陈一民等，基于PC工控机及Windows95的机器人通用控制器的研究，机器人，1998，4(1)。
[25] Christian Wurll, Dominik Henrich ,Heinz Worn, Jan Schloen ,Martin Datum, Wolfgang Meier, A distributed Planning and Control System for Industrial Robots, The 5th IEEE International Advanced Motion Control Workshop (AMC'98)。
[26] 郭艳玲，赵万生，董本志，数控发展的趋势—开放式体系结构数控系统，东北林业大学学报，2000，05。
[27] 周惠兴，王先逵，衍生式数控系统，中国机械工程，1998，9(5)，17-19。
[28] 卞立乾，充分利用、改造PC机、促进数控产业的形成和发展，中国机械工程，1998，9(5)，8-10。
[29] XuecaiZhou, QiShi, ZexiangLi, Contact Localization Using Force/Torque Measurements.IEEE International Conference On Robotics and Automation, Minneapolis, 1996,1339～1344。
[30] Golden E Herrin, The Next 40 years of NC, Modern Machine Shop, 1994(4),154-156。
[31] 蔡自兴，机器人学[M]，清华大学出版社，2000，29。
[32] R. P. Paul, "Modeling, Trajectory Calculation and Servoing of a Computer Controlled Arm, " Artificial Intelligence laboratory, Stanford University, 1972,AIM 177。
[33] R. P. Paul, Robot Manipulators: Mathematics, programming and control. MIT Press, Cambridge Mass., 1981。
[34] 高德林，王康华，机器人学导论，上海交通大学出版社，1988，62。
[35] 陈源，机器人计算机控制系统研究，湖南大学硕士学位论文，2000(11)，10-11。
[36] 林尚扬，陈善本，李成桐．焊接机器人及其应用，机械工业出版社，2000，15-26，34。
[37] 孙迪生，王炎．机器人控制技术．机械工业出版社，1997，36-39。
[38] Lee H.Y., liang C.G., A new vector theory for the analysis of spatial mechanisms. Mechanisms and Machine Theory. 1988,23(3),209-217。
[39] Salvatore Cavalieri, Antonella Di Stefano, Orazio Mirabella. IEEE Transactions On Robotics And Automation. February 1997.Vol.13. No.1。
[40] 吴镇炜，谈大龙．机械手空间圆弧运动的一种有效轨迹规划方法．机器人．Jan 1999，Vol．21，No．1，8-12。
[41] 孙迪生，王炎，机器人控制技术，1997，213。
[42] Paul R.P. 1972. "Modeling, Trajectory Calculation, and Servoing of a Computer Controlled Arm," Memo AIM-177; Stanford Artificial Intelligence Laboratory, Palo Alto Calif。
[43] Richard C.L.,Tom Archer.Visual C++6 Bible. 电子工业出版社,2001,8, 765-798。
[44] Inside Visual C++(4th Edition), Copyright 1997 by David J. Kruglinski。
[45] 路明，王平，齐智平，对WindowsNT核心的实时性能分析与测试，计算机工程与应用，2000(12)，48-50。
[46] Chunhao Joseph Lee Pc-based Control Of Robotic and Mechatronic Systems Under Ms-Windows NT Workstation 2001 IEEE/ASME Transactions on Mechatronics Vol.6, NO.3。
[47] Kevin M. Obenland Tiffany Frazier Jin S. Kim John Kowalik The MITRE Corporation 1820 Dolley Madison Blvd. McLean, VA22102。