Research On The Architecture Of Industrial Robot And The Application Of Welding-cutting Robot

The architecture, the form of control system of modern industrial robot and the controller mode based on PC technology are discussed in this paper. The result, which is a infrastructure that supports primary design of industrial robot control system effectively, decreases the possibility of the redesign on the basis of improper design to the system.The paper presents that CAN field-bus acts as communication bus between host computer and lower system in the system design of distributed welding-incising robots. The electrical characteristic, frame structure of CAN field-bus and the structure of robot control system based on CAN field-bus are elaborated in this thesis.This paper details the structure of control system, control mode and hardware structure of this robot system, with the stress on the software and hardware design of PC.The PC is the calculation and control center in this robot system. In PC design the waterfall method is introduced, which implements the design of software and hardware at the same time, and is beneficial for shortening developing time. The design of application program of PC is based on software architectural style, including object-oriented, data abstraction style, layered style, and so on, where the characteristics, advantages and disadvantages of each style, and the application and implementation in the robot, are elaborated. The software architectural style improves the flexibility and reusability of software system, relieves the repeated development and enhances the flexibility of system. In addition, the trajectory regulation and CAN communication protocol areexplained.And finally, an introduction has been made of the experimental and practical results of the welding- incising robot, which indicates that the robot system satisfies the requirement of industrial manufacture reduces labor intensity and improves the production efficiency...