Research on the control system of six joint industrial robot based on CPAC

The defects of the existing commercial robot control system are analyzed and the feasibility of the open control system is studied. The robot control system was designed based on the CPAC development platform with the six-joint robot as the research object. Firstly, a kinematic model of the robot was established by the d-h linkage coordinate system method, and its motion control was described in detail from two aspects of forward and inverse kinematics. Secondly, the inverse kinematics of the robot was solved by using the RPY description method and PIPER criterion, and the correctness of the robot kinematics model was verified. Third, the robot control system software design. Finally, the function modules of the control system are verified through experiments. The experiments show that the robot runs with a small error of pose and posture, which can meet the requirements of the control system and meet the expected design objectives.