Robot Operating System Peripheral Device Controller Development

Now car market become increasingly competitive, the original robot workstation in practical applications has various constraints and shortcomings. In this paper, robot workstation has been re-developed, mainly increase peripheral device controller, and enhance the function of the workstation.1) Reconstruct the original robot workstation in this article, add a system controller and a controller to enhance the function of equipment, workstations robot is Yaskawa's MOTOMAN UP6 robot.2) Choose NOVA8450 IPC as a system controller, using a semi-closed-loop control duplex digital positioner, and IPC + motion control card control structure, according to variable-bit technology to run with Yaskawa servo drive components as part of the implementation.3) Develop and design a motion control card to complete the positioner shaft and flip back to the motion control axis. Complete the motion controller hardware design and software design.4) Developed a system controller for additional functions to enhance system accuracy and safety.5) Introduce tooling EmCore as embedded controllers, designed for different tooling fixture corresponding advanced control logic. Different control logic tooling equipment required to complete only the cylinder volume and the corresponding quantity of the sensor can be generated with the corresponding fixture Advanced control logic. So that the function of tooling more perfect. And discussed the off-line programming, write tooling plug-and-play controller when the idea of tooling replacement.