基于Protobuf的机器人示教器软件设计与实现  

Design and implementation of the robot handheld's software based on Protobuf

作　　者：夏飞虎 叶瑛歆 胡天亮[1,2] 张承瑞[1,2] 

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]高效与洁净机械制造教育部重点实验室(山东大学),山东济南250061

出　　处：《制造技术与机床》2016年第5期99-103,108,共6页Manufacturing Technology & Machine Tool

基　　金：数控一代机械产品创新的区域应用示范工程(2014BAF09B01)科技部国家支撑计划

摘　　要：为提高工业机器人示教器数据通信性能,改善示教器人机界面设计,提出了一种基于以太网通信和嵌入式Windows CE开发的机器人示教器软件设计方案。该方案在通信实现上基于Google Protobuf定义Socket传输数据协议,简化了机器人示教器与控制器之间传输数据组包和解析;在界面设计上运用Windows CE系统的优势,实现了开发简单、反应速度快、可扩展性好的人机界面;在软件设计方面基于动态链接库的映射机制实现了模块化的软件结构,提高了软件系统的独立性和开放性。最后通过在SCARA机器人上的测试,验证了示教器软件的可用性。To improve the data communication performance and the human- machine interface design of the industrial robot handheld,a software design method of the robot handheld based on Ethernet and Windows CE is proposed. In the implementation of communication,Socket data transmission protocol is defined based on Google Protobuf,which simplifies the packaging and parsing of transmission data between robot handheld and the controller. In interface design,the use of Windows CE system simplifies the development,also fast response and good extensibility of human- machine interface are achieved. In software design,mapping mechanism based on dynamic link library is used to realize the modularized software architecture,which increases independence and openness of the software system. Through the test on SCARA robot,feasibility of handheld software is validated.

关 键 词：GOOGLE Protobuf 工业机器人 示教器 软件设计 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]