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

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