Development Of Industrial Robot Teach Pendant Based On Ethernet

Robotic technology has been widely used in industry, medical, scientific research ,national defense, etc. And it has played an important role in these areas. Teach pendant has been an important part of the industrial robot. With teach pendant, the operator could make manually demonstration teaching move, control robot to reach different pose, and record the point coordinates of each pose. By using robot's language, the operator could conduct online programming, realize playback for the program. And the robot could moved on the trajectory required by program. Design and research of teach pendant is generally undertaken by manufacturer of industrial robots.This thesis has bring out a kind of architecture based on Ethernet for common 6-axis industrial robots. The teaching device and robot controller composite upper and lower system structure, they communicate with Ethernet. The teaching device serve as upper system, adopt ARM and FPGA structure. On ARM runs operation system, and FPGA increase the flexibility of structure. A Development of the teaching device is performed. Hardware design, structure design, control logic and communication program design is described in detail. Among on them is hardware design, includes main power design, ARM and FPGA circuit design and their peripheral circuits.At the end, the teaching device has been tested to verify the correctness of the design, the results show that the teaching device can meet the requirement of robot teaching programming and representation.