TABLE OF CONTENTS This application presents a new economical solution of robot control system for different sophisticated robot applications. The control system is based on PC controlled servomotor control card and an intelligent control software, which has been developed using high level graphical programming language (LabVIEW). The basic development is an interface software for making connection between the control card and LabVIEW. LabVIEW gives a wide range of opportunity of utilization of the developed control system at different robot applications. It shows a complete solution of robot control system for a ZIM 15 type 6-axis robot. The Digital Differential Analysis (DDA) method and the closed loop control system of the servomotor control card are described. The programming of the control card and the time optimal trajectory planning method are also presented.
The advent of new high-speed technology and the growing computer capacity provided realistic opportunity for new robot controls and realization of new methods of control theory. This technical improvement together with the need for high performance robots created faster, more accurate and more intelligent robots using new robot control devices, new drives, and advanced control algorithms. On the other hand parallel with the need for high-performance robots another need has appeared: the need for low cost robot control.
This application describes a new economical solution of robot control systems. The presented robot control system can be used for different sophisticated robot applications. The control system consists of a PC, two servomotor...
