本文選題：工業(yè)機(jī)器人示教器　切入點：WinCE操作系統(tǒng)　出處：《合肥工業(yè)大學(xué)》2017年碩士論文

【摘要】：進(jìn)入20世紀(jì)以來,在工業(yè)生產(chǎn)領(lǐng)域中隨著工業(yè)機(jī)器人的快速應(yīng)用及發(fā)展,作為工業(yè)機(jī)器人控制系統(tǒng)的重要組成部分之一的工業(yè)機(jī)器人示教器,憑借著機(jī)器人巨大的優(yōu)勢以及在各行各業(yè)中廣泛的應(yīng)用性,其地位的重要性也得到越來越多的科研機(jī)構(gòu)和個人的關(guān)注與研究。本文在使用WinCE 6.0嵌入式操作系統(tǒng)的基礎(chǔ)上開發(fā)設(shè)計了一款工業(yè)機(jī)器人示教器軟件,在通訊模塊方面采用以太網(wǎng)通訊方式來實現(xiàn)機(jī)器人示教器與運動控制器交互通信。機(jī)器人示教器軟件開發(fā)是基于Visual Studio 2008軟件開發(fā)環(huán)境下完成的,采用Duilib界面庫完成整個示教器人機(jī)交互界面的開發(fā)與實現(xiàn),借助多線程的開發(fā)模式編寫整個軟件程序運行的框架。根據(jù)機(jī)器人示教器實現(xiàn)功能將程序劃分為多個功能模塊:與運動控制器進(jìn)行數(shù)據(jù)交互的通信模塊、與操作人員進(jìn)行信息交互的人機(jī)界面交互模塊,實現(xiàn)機(jī)器人坐標(biāo)系設(shè)定的坐標(biāo)系標(biāo)定模塊等。主線程通過人機(jī)界面交互模塊運行來實現(xiàn),支線程選用通信模塊,調(diào)用坐標(biāo)系標(biāo)定模塊會在實現(xiàn)相應(yīng)的標(biāo)定功能時調(diào)用。基于TCP通信協(xié)議來實現(xiàn)機(jī)器人示教器與運動控制器之間數(shù)據(jù)交互過程,設(shè)計通信狀態(tài)檢測功能實現(xiàn)對通信狀態(tài)進(jìn)行監(jiān)測與應(yīng)對處理。在控制器端,設(shè)計基于優(yōu)先級的多指令信息的消息處理機(jī)制來應(yīng)對多指令信息的復(fù)雜消息處理,在坐標(biāo)系標(biāo)定模塊中,以工具坐標(biāo)系標(biāo)定為例,解釋并分析了工具坐標(biāo)系實現(xiàn)原理及方法,并給出在程序中該算法的具體實現(xiàn)過程。本文設(shè)計的機(jī)器人示教器軟件能夠很好地在WinCE硬件平臺運行,對通信模塊以及人機(jī)界面交互模塊分別進(jìn)行測試,均能達(dá)到預(yù)期效果,從而驗證工業(yè)機(jī)器人示教器軟件設(shè)計的可行性。
[Abstract]:Since the 20th century, with the rapid application and development of industrial robots in the field of industrial production, as one of the important components of industrial robot control system, the industrial robot teaching device.With the great advantages of robot and its wide application in various industries, the importance of its status has also been paid more and more attention and research by scientific research institutions and individuals.Based on the embedded operating system of WinCE 6.0, this paper develops and designs a software of industrial robot teacher. In the communication module, Ethernet communication mode is used to realize the interactive communication between the robot teacher and the motion controller.The software development of robot teacher is based on the Visual Studio 2008 software development environment. The Duilib interface library is used to complete the development and implementation of the man-machine interface of the whole instructor, and the framework of the whole software program is written with the help of multi-thread development mode.According to the realization function of robot teacher, the program is divided into several functional modules: communication module for data interaction with motion controller, man-machine interface interactive module for information exchange with operator.The coordinate system calibration module of robot coordinate system is realized.The main thread runs through the man-machine interface interaction module, the branch thread selects the communication module, and the coordinate system calibration module is called when the corresponding calibration function is realized.Based on TCP communication protocol, the process of data exchange between robot instructor and motion controller is realized, and the communication state detection function is designed to monitor and deal with the communication state.At the controller end, the message processing mechanism based on priority multi-instruction information is designed to deal with the complex message processing of multi-instruction information. In the calibration module of coordinate system, the calibration of tool coordinate system is taken as an example.The realization principle and method of tool coordinate system are explained and analyzed, and the realization process of the algorithm in program is given.The software of the robot teacher designed in this paper can run well on the WinCE hardware platform. The communication module and the man-machine interface interaction module can be tested separately, and the expected results can be achieved.The feasibility of the software design of the industrial robot teacher is verified.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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