Design Of Motion Controller HMI For Commonly Used Series Multi-freedom Robot

The industrial robot control system of foreign brands is hardly open at the bottom,and there is a complex agreement when communicates with other devices,which has caused many restrictions and inconveniences for the integration of domestic industrial robots.In view of this situation,the motion simulation and man-machine interface design of multiple configuration robots are completed based on the open motion control system.The purpose is to help the mechanical and electrical engineers to reduce the works of the robot configuration analysis and programming and to speed up development of non-Standard speed of automation equipment control system.The open motion control system using EtherCAT bus technology is built based on LabVIEW visual programming and CoDeSys control system in this paper.Based on the in-depth study of the CoDeSys system,the single-axis module of the PLCopen function block is analyzed,and the instructions of the module and the state of the axis after executing the instruction are analyzed.The NI OPC servers is used to realize the communication between the upper computer LabVIEW and the lower computer CoDeSys.On this basis of the above,motion controller HMI of the robot is designed.In this paper,SCARA and six degrees of freedom joint robot are selected as the research object.Firstly,parameterized design and visual displayed for the robot model were completed by the technology of LabVIEW and Solid Works engine technology.Secondly,using D-H method and algebraic method to solve the forward and inverse kinematics of two types of robots.Finally,the polynomial methods in the joint space are applied to realize the trajectory planning and simulation of the robot.The robot simulation system based on Lab VIEW is implemented.The developed software has the functions of dynamic display,kinematics simulation and trajectory simulation of the robot model.In this paper,HMI interface is designed for the SCARA robot and the six degrees of freedom joint robot.The designed interface includes robot model selection(categorized as SCARA type and six degrees of freedom joint robot),geometric parameter setting,kinematics simulation,jogging/automatic,information display,parameter setting,alarm,teaching and reproduction,G code programming and other functions.