Design And Implement Of Robot Teaching Software Based On Android

Industrial robot system generally is composed of the robot body, servo system, motions controller and teaching pendant. Teaching pendant is the interface which is connected with human and computer of industrial robot. The location and parameters of the robot is viewed and modified by teaching pendant. At the same time the robot’s operation can be manually controlled and playback by teaching pendant.The robot teaching software has been designed and implemented based on Android operating systems. At first, the functional requirements of the teaching pendant have been analyzed. At the same time, the overall architecture of the software has been constructed. The teaching programming, interface and communication are the most important modules in the system. Next, according to the functional requirements of teaching programming module and the syntax features of the robot program command, teaching program editor has been designed by selective editing mode which can avoid mistakes in grammars and which is relatively easy for user to program. Moreover, the functions of the command editing and the command line editing have been realized. Then, according to the features of teaching pendant, the teaching software interface has been divided as follows: automatic operation, teaching, manual operation, register, IO signal, parameters setting and production management. Combining the characteristics of Android system, the overall structure of the interface has been constructed based on the design of interface layout. And the various interfaces of teaching software have been realized by using Activity, Intent and other components. At last, the types of communication data which transfers between teaching pendant and lower computer have been analyzed. The communication module which is based on TCP protocol and UDP protocol has been constructed by client/server structure. The clients of communication have been realized by using Socket and DatagramSocket classes of Java.Teaching pendant is based on touch-screen operation which is very convenient for user to operate, and also in line with modern operating habits. The communication module based on Ethernet can support WiFi wireless network communication. It is ready for the future development of wireless communication.The teaching software has been debugged and tested on the six-axis industrial robot in laboratory. The results of test have shown that the teaching pendant can meet the basic functional requirement of teaching pendant. Besides, the teaching software has been applied in industrial robots of China Chongqing robot Co Ltd. So the correctness and reliability of the software have been fully proved.