Development Of Programming And Control System For Industrial Robots Based On TwinCAT

Currently,robots have been widely used in industry,military,housekeeping and other fields.Among them,the industrial sector,which is the basis of material production for modern society,has the most urgent demand for robots.And the urgent demand is not only reflected in the body configurations,but also in the automation control systems of the industrial robots.The core of the automation control system of industrial robots is their programming and control systems.For the problems in the development of programming and control system,such as too long cycle for the development through the completely independent research and no core technology for the secondary development through commercial systems,this article embarks from the actual demand and independently develops the programming and control system using the commercial general control platforms for the control of underlying hardware.The structure of the programming and control system in this paper is designed as two levels: the middle control system which is based on the commercial general control platforms and the user programming system which based on the middle control system.The middle control system is the core of the programming and control system,and it mainly deal with the interpretive execution of the user progran and the trajectory planning of the motion process,which is the key part of the application for the related theory and the core technology of the industrial robots.The user programming system is the user interactive interface of the programming and control system,and it mainly deal with the operation of the user files,the edit of the user programs and the monitoring of the running states.Then,according to the detailed design of the programming and control system,this article implements an instance of the programming and control system using the TwinCAT real-time platform and makes the simulation test for the instance.The simulation test proves that the theoretical design and the logical structure of the programming and control system which is based on the commercial general control platforms in this paper can meet the expected requirements and realize the rapid development of the programming and control system.So it has the high practical significance in the research and development of automation control systems,and the use and promotion of industrial robots in China.