Study On Trajectory Control Of Measuring Robot Based On Ethernet Communication

Accelerating the integration of information technology and manufacturing as the main characteristics of intelligent manufacturing become the main trend in the development of global manufacturing,and based on the flexible robot production will become the main production mode in the future.The paper analyzes the composition and working process of measuring robot system,and further study the library card KR5 ARC and KR C4 robot system,setting up the scene of the robot coordinate system and completing the calibration,implementing the system signal communication and software process,to provide technical support for the flexible vision measurement and implementation method.The main research contents are as follows:1)Set up the scene of the robot coordinate system and complete the calibration.Accord to the general principles of the robot,a number of field coordinate systems are established.With the help of a target,complete coordinate transformation relationship of the sensor coordinate system to the intermediate coordinate system,then to the coordinate transformation of the workpiece coordinate system,transforming the measuring the robot posture sensor coordinate system to the workspace coordinate system.2)Research on the composition and working process of the offline measurement robot system.Analyze the off-line measurement robot system main component of characteristic and function part.This paper establishs off-line measuring system by the KUKA robot system with motion unit and measuring computer control unit,using the existing experimental conditions.3)Research on the communication mechanism based on Ethernet.Realize the communication between robot system and measurement computer by Ethernet.Accord to the measurement robot system working process,determine the requested signal type and package signal based on XML protocol.4)Design measurement robot system program.This paper analyzes of the characteristics of robot different motion modes and uses top-down design idea to divide robot program into the work selection layer,track selection layer and track measuring layer.The structure design and implementation are carried out.Different states and behaviors are abstracted from the working process of the measureement system,and the program of the computer track control module is designed by the state mode.