嵌入式系统机器人示教器人机交互界面设计实验及研究

发布时间：2018-04-04 23:36

本文选题：工业机器人示教器　切入点：WinCE操作系统　出处：《合肥工业大学》2017年硕士论文

【摘要】：进入20世纪以来,在工业生产领域中随着工业机器人的快速应用及发展,作为工业机器人控制系统的重要组成部分之一的工业机器人示教器,凭借着机器人巨大的优势以及在各行各业中广泛的应用性,其地位的重要性也得到越来越多的科研机构和个人的关注与研究。本文在使用WinCE 6.0嵌入式操作系统的基础上开发设计了一款工业机器人示教器软件,在通讯模块方面采用以太网通讯方式来实现机器人示教器与运动控制器交互通信。机器人示教器软件开发是基于Visual Studio 2008软件开发环境下完成的,采用Duilib界面库完成整个示教器人机交互界面的开发与实现,借助多线程的开发模式编写整个软件程序运行的框架。根据机器人示教器实现功能将程序划分为多个功能模块:与运动控制器进行数据交互的通信模块、与操作人员进行信息交互的人机界面交互模块,实现机器人坐标系设定的坐标系标定模块等。主线程通过人机界面交互模块运行来实现,支线程选用通信模块,调用坐标系标定模块会在实现相应的标定功能时调用。基于TCP通信协议来实现机器人示教器与运动控制器之间数据交互过程,设计通信状态检测功能实现对通信状态进行监测与应对处理。在控制器端,设计基于优先级的多指令信息的消息处理机制来应对多指令信息的复杂消息处理,在坐标系标定模块中,以工具坐标系标定为例,解释并分析了工具坐标系实现原理及方法,并给出在程序中该算法的具体实现过程。本文设计的机器人示教器软件能够很好地在WinCE硬件平台运行,对通信模块以及人机界面交互模块分别进行测试,均能达到预期效果,从而验证工业机器人示教器软件设计的可行性。
[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.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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