Development Of Teaching And Control Management System For Assembly Robot

Robot teaching system,as an important part of the industrial robot system,is responsible for the human-computer interaction between the operator and the robot.The demands of the domestic assembly robot are analysed in detail and the research on development of cross-platform teaching system for assembly robot is presented in dissertation.Firstly,the current status and development trend of the technology of teaching system at home and abroad are summarized in this paper.Combined with the needs in assembly process,the specific functions of the teaching system are determined according to the effects to the whole system.On the basis of this,the overall software architecture of teaching system is given from the point of view of thread division and task scheduling.The human-machine interaction system is based on the QT framework and the application layer protocol is based on TCP and UDP transport layer protocol.The development and test is mainly carried out on HuaTu teaching pendant.Based on the principle of modular development,the system is divided into different operation modules,the management and scheduling mode of the whole system are expatiated in this paper.The management module is designed according to the requirement of the security control and runtime management,and the management and monitoring function of the system is realized.The programing module is implemented according to the requirements of robot programming,and the editing and debugging functions of the robot program are accomplished.The motion control module is implemented according to the requirement of manual control and tool management of the robot.The intelligent terminal monitoring module is realized in the special background of the assembly operation.Based on the principle of communication between client and server,the communication module is implemented in the form of dynamic link library and the reliability problem in communication debugging process is analyzed and corrected.Finally,the experiment is carried out on the ER4 industrial robot and the feasibility and stability of the system are verified.