| With the development of the industry 4.0,China,as a manufacturing power,is gradually making a transformation from “Made in China” to “intelligent manufacturing in China”,industrial robots play an indispensable role in the manufacturing innovation-driven development strategy.The industrial robot ABB,as a platform for its secondary development,integrated the six-axis force sensor and somatosensory LeapMotion is being the main research contents of this paper,and ultimately this paper developed a network integrated control system with remote control function.Firstly,the calibration method of the force sensor is discussed,the calibration matrix and the error matrix are obtained.The mapping relationship between the calibration matrix and the foce is expounded in detail,and the main performance indexes of the sensor are obtained;The working principle and function of LeapMotion are analyzed,and then the development of its application programe and the design of some related classes are studied.Secondly,the hardware and software structure of ABB IRB 1410 robot is analyzed in detail.The procedures of RAPID programming is analyzed,and the client program written in RAPID is completed.The secondary development of ABB has done and realize the function of remote network control.The communication mechanism of industrial robot operating system and the characteristics of industrial Ethernet technology.are analyzed.In addition,the transformation matrix between the link-pole coordinate system of IRB1410 is calculated,and the relationship between the end coordinate system of operation and the base coordinate system is obtained.Thirdly,in the development environment of VS2010,the integrated control system software is analyzed and designed according to the functions using object-oriented method.Based on TCP/IP protocol,the network communication is realized by using C/S structure.The connection between C# and C++ program is completed by establishing dynamic link library,which realizes the integration of sensor system and ABB system,and uses multithread technology to solve the interaction problem of information between different modules.Finally,an experimental platform related to the integrated control system is built,and the integrated control system is validated by experiments.During the experiment,the shaft hole assembly operation was performed by using LeapMotion and six-axis force sensor interaction to control robot,in order to verify the feasibility of the system in data acquisition,processing,logic algorithms and network communication. |
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