'Periodica Polytechnica Budapest University of Technology and Economics'
Abstract
This paper presents a new economical solution of robot control system for
different sophisticated robot applications. The control system is based on
PC
controlled servo motor 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 utilisation of the developed control system at different robot
applications.
This paper shows a complete solution of robot control system for a ZIM 15
(KUKA
license) type 6-axis robot. The DDA (Digital Differential Analysis) method
and
the closed loop control system of the servo motor control card are
described.
The programming of the control card and the time optimal trajectory
planning method are presented, too