[Cartesiancoordinaterobot11王泽超组.docxVIP

直角坐标机器人的应用The Application of Cartesian coordinate robot Team member: Wang Zechao Jin Mingjie Song Cheng AbstractA Cartesian coordinate robot (also called linear robot) is an /wiki/Industrial_robot \o Industrial robotindustrial robot whose two /wiki/Principal_axes \o Principal axesprincipal axes of control are linear. It is driven by two A.C servomechanisms motors. Our project is base on this robot to draw a line a pentagon and circle. It was consist of two parts, one is googol controller card that control the A.C motor, the other is computer vision.Key word: Googol control card, Cartesian coordinate robot, Computer vision1 Related presentations1.1 The Googol control cardGT400 which we choose is a card which can control four axes motion. It is shown in the Figure 1.1.Figure 1.1 GT400Googol produced GT series motion controller, you can simultaneously control four axis of motion to achieve multi-axis coordinated motion. Its core by the ADSP2181 digital signal processors and FPGA, and can be controlled to achieve high-performance computing. It is suitable for a wide range of applications, including robots, CNC machine tools, woodworking machinery, printing machinery, assembly production lines, electronic processing equipment and laser processing equipment.GT400 uses the Language C++ and the Function of the itself to control the motors. So it needs a computer to contact with the motor and the control card. It is shown in Figure 1.2.Figure 1.2 The contact1.2 Cartesian coordinate robotA Cartesian coordinate robot (also called linear robot) is an industrial robot whose three principal axes of control are linear (i.e. they move in a straight line rather than rotate) and are at right angles to each other. Among other advantages, this mechanical arrangement simplifies the Robot control arm solution. Cartesian coordinate robots with the horizontal member supported at both ends are sometimes called Gantry robots. A popular application for this type of robot is a computer nu