Research And Development Of Teaching System For Robot Based On ARM And Linux

The system of teaching-box, as an important part of the control system, has developed to be a relatively independent and complexed system with various functions including manual controlling, program editing, parameters configuration and monitoring management. The mode of Teaching-play is the common way of Teaching for industry robot. Its working principle is that with the teaching-box, the operator could make manually demonstration move, control industry robot reach different pose, and record the point information of each pose. By using robot’s language with the teaching points, the operator can conduct online programming, realizing playback for the program.Firstly, a kind of advanced solution based on ARM and Linux is put forward, for four DOF cylindrical coordinate type industrial robot designed by us, with the struce of the whole control system and the demands and functions of teaching system. The construction of the teaching instrument hardware platform is completed based on core plate OK6410 and extension modules. The paper has also built platform of software development based on embedded Linux and Qt.Then, the software of embedded teaching system is introduced in detail, including the driver software based on Linux, the applications based on Qt and development of robot language system. The driver software development includes how to control IO, how to use a UART, how to use LCD and USB and so on. The applications based on Qt use open, modular and multithreading technology, including the module of communication with the main control system using RS232, the module of precise timing, the module of IO and position processing and so on. The development of robot language system is about the design of robot language, editor for robot and the interpreter for robot.Finally, the article has built the testing platform and completed teaching system related functions tests. The test results show that the teaching box can meet the requirement of robot teaching programming and representation and can be used as a good human-computer interaction device to control the robot.