基于共享库的通用工业机器人示教器软件设计  

Software Design for Universal Industrial Robot Teach Pendant Based on Shared Library

作　　者：杨亮亮 叶佳保 YANG Liangliang;YE Jiabao(College of Mechanical Engineering and Automation,Zhejiang Sci-Tech University,Hangzhou Zhejiang 310018,China)

机构地区：[1]浙江理工大学机械与自动控制学院,浙江杭州310018

出　　处：《机床与液压》2022年第24期77-81,共5页Machine Tool & Hydraulics

基　　金：浙江省自然科学基金项目(LY18E050016)。

摘　　要：针对市场对工业机器人需求多样化的趋势,设计一款应用于嵌入式Linux操作系统的通用示教器软件。基于QT开发框架进行人机交互界面设计,依据需求分析和示教器的工作原理设计了运动控制模块、机器人语言的代码编辑模块、基于机器人语言代码示教复现模块以及通信与数据采集模块等内容。为了让示教器软件具有通用性,在软件架构中引入了Linux操作系统共享库技术,将与机器人算法相关的代码按照通用的接口集成到可替换的共享函数库之中。最后结合摆臂焊接机器人和SCARA机器人机械本体搭建了工业机器人控制系统并且分别进行操作测试,结果表明设计的示教器软件人机界面友好,功能完善,并且可以应用于不同的工业机器人。In response to the diversified market demand for industrial robots,a universal teach pendant software applied to the embedded Linux operating system was designed.Man-machine interface was designed based on QT development framework.According to the demand analysis and the working principle of the teach pendant,the motion control module,the code editing module of the robot language,the teaching reproduction module based on the robot language code,and the communication and data acquisition module were designed.In order to make the teach pendant software universal,shared library in Linux operating system was introduced into the software architecture.The code related to the robot algorithm was integrated into a replaceable shared library according to a common interface.Finally,combined with the swing arm welding robot and the SCARA robot mechanical body,the industrial robot control system was built and the operation test was carried out.The results show that the designed teach pendant software has friendly and functional man-machine interface,and can be applied to different industrial robots.

关 键 词：共享库 嵌入式LINUX 工业机器人 示教器 人机交互 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]