Design of DSP-based Open Control System for Industrial Robot

摘要

The closed structure of control system limits the flexibility and expandability of industrial robot. In order to improve the openess and transplant ability of the industrial robot control system, the DSP-based open industrial robotic control system is designed. The hardware and software are both designed in modular structure, which makes the system easy to maintain, expand and transplant. The fuzzy self-adjusting PID control & velocity and acceleration feedforward strategy is employed to improve the system's dynamic performance and the control precision. The dynamic link library (DLL) is developed with Microsoft Visual C++6.0 for the convenience of second development. Simulation shows the validity of the strategy adopted. The actual running proves that the system has good operating and dynamic performance, high control precision and perfect programming function, so it can meet the actual operating requirements completely.