Hardware Realization of Kinematic Mechanism and Control System of Multifunctional Industrial Robot

Abstract

In order to improve the position control accuracy of industrial robots and solve the problems of poor real-time and reconfigurability of traditional motion controllers, a hardware implementation method for the motion mechanism and control system of multi-functional industrial robots is proposed. The video acquisition system is suitable for infrared detectors containing 4 channels or readout circuits in 4 channels. The video display system is compatible with the old AV/S-Video interface, and is also suitable for computer system video graphics array (VGA) analog video interface and high-definition video interface. Multimedia Interface (HDMI) digital high-definition video interface display terminal equipment. The hardware circuit of video acquisition and corresponding video interface image output is designed, including signal amplification circuit, analog-to-digital conversion circuit, video information buffer circuit, video display digital-to-analog conversion circuit, and interface hardware circuit, to realize the digitization of image information acquisition and image information. Display simulation, construct VGA, AV/S-Video, and HDMI timing sequence with hardware description language through Field programmable gate array (FPGA) to complete the display of corresponding terminal equipment. The experimental results show that the experimental data was substituted into the formula and the variance $\sigma$  = 0.09 mm was found, indicating that the detection error of the system is less than 0.27 mm, which meets the detection requirements. Through the 3D contour reconstruction experiment of the workpiece, the expected function realization of each module is proved, and the feasibility of the system software and hardware system is verified. This design has good scalability and stability, reducing labor costs.