Design Of A Six-degree-of-freedom Robot Teaching System Based On Android System

The robot system is generally composed of a robot execution system,a control system,and a robot teaching system.The teaching system is an interface for the robot system to perform human-machine interaction.Through the teaching system,the pose information and parameter settings of the robot can be viewed and modified,and the robot can be manually controlled and the teaching reproduction operation can be performed.The robot teaching system studied in this paper is based on the C/S architecture design,including the robot teaching pendant and the communication module for exchanging information with the control host.This paper studies and designs a 6-DOF robot teaching system based on Android system.The hardware of the teaching pendant is based on the Cortex-A9 processor,equipped with the Android operating system,combined with Open GL ES threedimensional graphics API and Socket to develop a robot virtual simulation and teaching system.The teaching software adopts a touch screen control method,supports Wi-Fi wireless network communication,and designs a UI interface based on ergonomic principles to enhance the user experience of users.The main research contents of this paper are as follows:(1)Clarify the functional requirements of the robot teaching system in the robot system,and select the hardware of the teach pendant accordingly.According to the CPU architecture,performance,processing speed,supported system and GPU performance,select the teach pendant development board,and select the appropriate Wi-Fi,display and other modules.After comprehensively comparing the advantages and disadvantages of various embedded operating systems,the Android system was finally selected.Compile the Uboot boot loader,Android operating system kernel and file system on the Urbanu system,and transplant the Android 4.4 version of the operating system to the Itop4412 core board.(2)Secondly,perform kinematics calculation and MATLAB simulation according to the 6-DOF robot configuration studied.A kinematic model is established based on the D-H parameter method to solve the forward and inverse motion equations.Among them,the inverse kinematics problem is decomposed into the inverse kinematics of position and the inverse kinematics of attitude,which are solved by geometric method and analytical method respectively.Finally,the calculated results are simulated and verified by MATLAB software.(3)Then analyze the application architecture of the teaching software,and divide the software architecture into a presentation layer,a business logic layer,and a data presentation layer.According to the functional requirements of the teaching system,the teaching system is divided into the service end of the control host and the client end of the teaching device.The teaching software is divided into functional modules according to the modularization concept: Open GL virtual simulation,teaching reproduction,network communication,robot status display and other functional modules.It also introduces the realization principle of several key modules of virtual simulation module,teaching module and network communication module.(4)Then use the Android Studio tool to develop the upper computer teaching application software program of the Android robot teaching system.The teaching software includes functions such as virtual simulation,teaching reproduction,and remote control.First,design and develop a human-computer interaction UI interface to implement various functional modules.Through the mutual data transmission between the teach pendant and the control host,the robot status information can be obtained.Build the server side on MFC based on the Visual Studio development tools,and exchange data with the client side.(5)Finally,the laboratory's 6-DOF modular robot hardware platform is used for joint debugging and testing.The test results show that the teaching software can meet the basic functional requirements of the teaching system.