| With the development of technology, robot technology has been growing in all sectors a wide range of applications. It has become an important component of automated production. Traditional robot control system is designed to complete a relatively fixed task. When the robot transforms the request or changes the robot configuration changes, it must be re-development of new control systems. That consumes a large amount of manpower material resources and time. Therefore, as the brain of robot motion control system,it is develop ingredients toward open and modular direction.Comprising widely used robot control system control of advantages and disadvantages, I choose the form of "IPC + motion control card + I / O Card" as the robot control system. Robot control system according to the common functions and operational requirements of the robot is divided into modules. The relation between the various modules is low coupling as far as possible. And I described the functional requirements of modules.Through Visual C + + as a development tool on the Windows platform and using standardized methods and modularization, I completed I / O module and the motion control module program of writing and debugging. First, proposing a modular approach of software design based on the software structure and modularization, and carrying out to achieve. The structuring is implemented through the MFC framework. A main thread, a worker thread and a multimedia timer task are executed parallel to meet the real time requirement of the industry control. Module is based on C + + class source-level module, the various functional modules in the program was divided into categories. Second, the robot motion control system I / O modules and motion control module abstraction into a number of specific I / O classes and CMovement class to simplify the control operations, to achieve the software code reuse. At the same time these classes inherit from CCmdTarget, it can achieve the object serialization and receive messages. |
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