The Software System Design Of The Robot's Teaching Pendant Based On WinCE

With the rapid development of robot technology, industry of robots has been rapid development. Teach pendant is an important component of the overall control system of robot. It is also accompanied by the development of the robotics industry. Therefore, there has been demand needing to be innovative. Teach pendant as a bridge between the operator and robot can be used to send messages to robot controller conveniently. It completes human-computer interaction. It is pivot for the operator how to use the functions provided by the robot controller in order to meet the actual demands of the industrial processes.At present, the domestic research of teach pendant is still in its infancy and the corresponding thesis of this research is not much. Most systems are generally designed for specific robot, functions is relatively limited and mostly based on the input by physical key and serial communication. Moreover, Interface is rough so that user experience is poor, but also there is a lack of discussion and study of literature about software system of teach pendant. Therefore, it is very necessary to design a user-friendly, full-featured and stable software of industrial robot teach pendant for the entire robot system.In this paper, we use the Shanghai Hatu teach pendant (HTQ) as the hardware platform and WinCE6.0 as its operating system. Firstly, referring to software architecture of teach pendant of K.EBA and MOTOMAN robots in our laboratory, being combined with current research and current needs of our laboratory, we made the software requirements analysis, organize the various functional modules and design software framework. Then, we separate the corresponding logic functions from the corresponding interface by using techniques of DIRECTUI. In the course of design, we use the Unified Modeling Language (UML) to be modeling of various functional modules and design patterns to decouple each module, so that it is easy to be used and functional independence of the interface. In order to keep stability between teach pendant and the robot controller, we select the mode of asynchronous communication by TCP. It is important to define a special communication format so that the controller accepts the messages from teach pendant. It ensures that the controller can be a friendly interaction with teach pendant.Finally, in order to verify the functionality of teach pendant, we passed the teaching examination on the existing laboratory robots (Mitsubishi PA 10 and Nanjing ESTUN ER16).There are both manual and automatic running program experiments.The manual experiment consists of setting and displaying state, checking and setting IO state, reading current position of robot and so on. By joint interpolation, linear interpolation and circular interpolation, job files have been established so that it is successful for automatic running program of robot. It is feasibility and stability of software system of teach pendant which proved by the experiments. It meets the needs of teach pendant of six-axis industrial robot. Meanwhile, it has certain reference value for teaching other six-axis robot.