工业机器人嵌入式示教盒设计  

Design of embedded teaching-programming pendant for industrial robot

作　　者：赵凤申[1] 李爱芹[1] 吴文祥[2] 

机构地区：[1]南通航运职业技术学院机电系,江苏南通226010 [2]浙江大学流体传动及控制国家重点实验室,浙江杭州310027

出　　处：《电焊机》2011年第12期9-12,共4页Electric Welding Machine

基　　金：南通市应用研究计划资助项目(K2010033)

摘　　要：设计了一种便携式工业机器人示教盒。在分析示教盒的便携性要求和人机界面影响因素的基础上,提出采用ARM7TDMI内核和嵌入式实时操作系统的设计方案;充分利用PS/2键盘的特点实现便捷的程序输入和机器人控制;搭载μC/GUI和LWIP模块实现图形用户界面和网络通信;通过分析编程语言语法结构并结合Nand-Flash的读写特点实现示教文件的本地存储和传输;并根据语法、词法结构设计PC端程序解释器,完成编程语言向执行代码的转换。实践应用表明,该示教盒人机界面友好、运行稳定,具有较强的实用性和一定的扩充能力,能够显著提高在线示教的作业效率。A teaching-programming pendant of portability and rapid input for industrial robot is designed.By analyzing the influencing factor of portability and user-friendly interface,a scheme is advanced based on ARM7TDMI and embedded real-time operation system,which makes the best of PS/2 keyboard for program input and robot remote control,and transplants u C/GUI and LWIP to realize graph user interface and Ethernet communication.A program interpreter and local storage methods of program files is raised in consideration of the syntactic structure of programming language and read-write processes of Nand-Flash,then the robot can go into operation by the codes generated from the interpreter.Practices proves that this teaching pendant is user-friendly, efficient ,practical, stable, and of strong expandability.

关 键 词：机器人 示教盒 实时操作系统 

分 类 号：TG409[金属学及工艺—焊接]