ĐẠI HỌC BÁCH KHOA HÀ NỘI TRƯỜNG CƠ KHÍ **************** BÁO CÁO TECHNICAL WRITING AND PRESENTATION CHỦ ĐỀ Ứng dụng và phát triển LinuxCNC điều khiển Robot song song ĐIỂM NHẬN XÉT VÀ CHỮ KÝ CỦA GIẢNG V[.]
ĐẠI HỌC BÁCH KHOA HÀ NỘI TRƯỜNG CƠ KHÍ **************** BÁO CÁO TECHNICAL WRITING AND PRESENTATION CHỦ ĐỀ : Ứng dụng phát triển LinuxCNC điều khiển Robot song song NHẬN XÉT VÀ CHỮ KÝ CỦA GIẢNG VIÊN ĐIỂM Giảng viên hướng dẫn: Đặng Bảo Lâm Sinh viên thực hiện: Họ tên sinh viên MSSV Vũ Đình Hiệp 20198405 Trịnh Quang Nghĩa 20198421 Đỗ Quang Trung 20198439 Hà Nội, tháng 07 năm 2023 I Abstract Abstract—In recent years, open architecture motion controllers, including those for CNC machines and robots, have received much interest and support among the global control and automation community This paper presents work done in extending a well-known and supported opensource control software called LinuxCNC for the control of a Delta robot, a translational parallel mechanism Key features in the development process are covered and discussed and the final customized system based on LinuxCNC described Index Terms—LinuxCNC, Delta robot II Background and research motivation The world's industries are increasingly developing, in which the issue of production control and automation is being of primary concern It requires fast, high-precision processing to meet the increasing demands of society Nowadays, Robot is much used because its benefits are given back Investment costs are getting lower and lower, and the level of precision and expertise is increasing Robots can replace humans working in toxic environments, the production stages are repetitive for hours and hours And most of all, it can work day and night without rest, something that humans cannot Researching and learning about robotic systems from which to design methods of controlling them is increasingly invested and interested However, for each robot manufacturer, it is common to use only one type of specialized robot control software for their prototype robot That poses a difficult problem for users if they want to use robots of many different brands Accompanying that is a difficulty when transferring old robots or only robot hardware without accompanying control software Therefore, it is required to have a software that can set up open programs or interfaces to be able to control many different types of robots Several robots from leading robot manufacturers and compatible control software Producer Corresponding control software ABB Studio KUKA.AppTech, KUKA.ArcTech, KUKA.EqualizingTech,… KCONG K-ROSET Fanuc robot Roboguide Today, many software and operating systems are interested in developing to solve the above problem However, the open source controller (OAC) is much more interested in investment and appreciated because of its flexibility, efficiency and economy One of the well-received and popular OAC platforms is LinuxCNC III Aims The job objective is to create a translational parallel robot control interface in delta form There is a convenient, easy interface, there are practical simulations to help users easily use and develop further All research and discussion will be presented in this report IV Methodology LinuxCNC Overview The source codes of LinuxCNC was written mainly in the language of C/ C++ There are four main components These are a motion controller (EMCMOT), a discrete I/O controller (EMCIO), a coordinating task executor (EMCTASK) and several graphical user interfaces (GUI) templates HAL (Hardware Abstraction Layer) is a component of LinuxCNC which provides a convenient way of allowing a number of building blocks, many of which are low-level drivers for hardware devices, to be interconnected, via named ”pins”, to build a complex system The structure of LinuxCNC is illustrated in Fig1 2 Systerm delta robot robot control structure A delta robot is a type of parallel manipulator Its key feature is the use of a parallelogram structure for some of its links to maintain the orientation of the end-effector platform A 3-DOF delta robot will only have the translational motions in its three axes with the actuating motors connected directly to the links First developed in the 1980s, delta robots have been widely used for pick and place operations in the sorting and packing industry, their advantage being their capability for very fast motions A simple schematic diagram showing the main components of the system is shown in Fig2 LinuxCNC runs in the PC under the RT Linux operating environment It communicates with the external hardware devices through an installed LinuxCNC-supported interface card, a Motenc-Lite motion control and data acquisition card This card provides four differential quadrature encoder inputs, eight channels each of analog inputs and outputs, and 48 digital I/O These are sufficient to control the drivers for the three servo-motors of the robot, to read the digital encoders mounted on the three motors, and to acquire the six data signals from the force/torque sensor The hardware wiring details are relatively straightforward and will not be discussed in this paper in which the focus will be on software development for adding to, and adaptation of, LinuxCNC Fig2 Card Mesa The MESA 7I80DB is a low cost, general purpose, FPGA based programmable I/O card with 100 BaseT Ethernet host connection The 7I80DB that uses standard parallel port pinouts and connectors for compatibilty with most parallel port interfaced motion control / CNC breakout cards/ multi axis step motor drives, allowing a motion control performance boost while retaining a reliable real time Ethernet interface Unlike the parallel port that the 7I80DB replaces, each I/O bit has individually programmable direction and function The 7I80DB has a simplified UDP host data transfer system that allows operation in real time if required and compability with standard networks for non-real time applications Dual FPGA configuration EEPROMs allow simple recovery from programming mistakes The 7I80DB provides 68 I/O bits (17 per connector) All I/O bits are 5V tolerant and have pullup resistors A power source option allows the 7I80DB to supply 5V power to breakout boards if desired This 5V power is protected by a PTC Firmware modules are provided for hardware step generation, quadrature encoder counting, PWM generation, digital I/O, Smart Serial remote I/O, BISS, SSI, SPI, UART interfaces and more Configurations are available that are compatible with common breakout cards and multi axis step motor drives like the Gecko G540 All motion control firmware is open source and easily modified to support new functions or different mixes of functions Interface and simulation Interface when running test of mini 3-axis CNC machine GUI connection interface of each axis Simulation interface for robot 5dof Actual image of dof robot arm with self-setup LinuxCNC interface V Timetable WORK Start Hour s Finish Find out the topic, give context and research purpose 15/6 15/6 How to control Robot, learn Robot operating systems, draw conclusions using LinuxCNC 16/6 17/6 Learn how to install and use LinuxCNC, create custom interfaces for controls, components to use 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