The Design Of Robot Graphical Development Environment

Robot control programs can be developed by robot development environments, realizing the control of robot motion and function. But few of current robot development environments have complete simulate environments. And developed by that, the robot control programs running in the general operating system are without real time. Then, because of requirements of uniform compiling execution environment, it brings a limitation when users choose an increasing number of open software and hardware. Aimed at the shortcomings and requirements of the project, this paper designs a robot graphical development environment with the controllers as core, generating control programs with real time, supporting a large number of open software and hardware, possessing a complete simulate environment and not requiring uniform compiling execution environment.This paper takes the detailed design of robot graphical development environment as the key content. The development environment is divided into three modules, graphics library management, graphical programming and visualization, but the visualization module is not the introduction of the content in this paper. The graphics library management includes component library and algorithms library. Component library makes robot software and hardware resources graphical according to the users’ needs and what they can gain, realizing the management of components. It is divided into controllers, drives, sensors and other five libraries based on the robot system composition, making it open and extensible for users, and realizing the project requirements with the controller as the core. Algorithms library realizes the management of algorithms called including control, path planning and so on.Graphical programming module can set up users’ custom-made robot control system by selecting, dragging, connecting and other operations on the components in component library, and generate simulation program and control program with real time clock automatically after setting robot properties related and choosing control algorithm. An executable program can be generated after the simulation program compiled and linked. Then we can do digital simulation and physical simulation function. Depending on the different robot control computer, we can choose the corresponding cross compiler to cross-compile and link the control program, and then download the generated executable program to the robot control computer and run, realizing the motion control of robot.This paper makes a useful attempt in robot development environment, and realizes personalization, professionalization and the function of customizing robot control system through the way of graphical programming. The robot graphical development environment passed the project acceptance and realized all the functions required by the project requirements.