Research And Implementation Of Industrial Robot Interaction System Based On LinuxCNC

Industrial robot is a multi-DOF and multi-joint robot,which is used to replace traditional production in industrial field.In the background of manufacturing's rebuilding and upgrading,and the government implemented good policy for robot development,industrial robot technology has become an important trends in manufacturing field.As a key point in the research of industry robot technology,Man-machine interactive system is the only interactive tool between operator and the control system.It related to the quality of the tasks of the industrial robot directly.With the development of information and control technology,more and more industrial robot's controller will be Industrial Personal Computer(IPC).Therefore,this paper introduced an architecture of robot control system,which is a combination of IPC and Movement Controlled Board.It also proposed a design method of possessing the online teaching function on both of the IPC and teaching box.In the other words,we've designed human-computer interaction interface program and a teaching terminal,which constitute the Man-machine interactive system running on the LinuxCNC controller.Firstly,this paper stated the structure design of industrial robot interaction and control system based on LinuxCNC software,which includes industrial robot body,controller and human-computer interaction system.Combined with Linux CNC platform,we designed and built the controller of industrial robot on IPC by configuring RTAI real-time kernel patch and set the master/slave station of EtherCAT.Also it indicated the design program of interactive interface software and teching terminal and designed the 3D simulation model of six-axis industrial robot by using D-H modeling method.Secondly,according to the functional requirement of industrial robot interface,we divided the HMI into four different kind of functional classes,including manual mode,auto mode,program editting mode and help mode.Besides,on the basis of OOP thought,we programmed each of the display area of HMI as a class.Then making use of RCS/NML communication mechanism,we created a C++ extended module for offering programmatic interface to realize the communication between interface program and the control system.Thirdly,we introduced the design and implementation of the teaching box terminal.We used DGUS touch panel and a serial port communication board as the hardware of the teaching box terminal.From the angle of software design,we designed the interactive interface displaying on touch panel and implemented the communication mechanism.Also we designed the HAL module of teaching box on the LinuxCNC platform.Finally,we respectively tested the operating function of human-machine interface program and the teaching box.From the movement of trajectory simulated by industrial robot 3D model,we found the human-machine interactive system reached the design expectation.