Design And Implementation Of Teaching System For Industrial Manipulators Based On Non-Powered Joint Arm

With the extensive use of industrial robotic manipulators in various industries,it is expected that the robotic manipulators can be used in a simpler way to accomplish more complex tasks.At present,industrial robotic manipulators rely mainly on the way of teaching-playback to complete the tasks.Since the existing teaching systems are difficult to operate,their communication modes are limited to wired communications,and their teaching trajectoris are not smooth.A teaching system for industrial manipulators based on non-powered joint arm is proposed in this thesis which is easy to operate.It can be communicated wirelessly and the teach trajectory is smooth.The system includes a teaching collector and an interactive control software.A teaching collector is designed as the slave computer of the teaching system,which is mainly used for collecting teaching trajectory information and providing hardware and service support for Wi-Fi wireless communication.The design of the teaching collector includes hardware and software design.The teaching collector is designed with the modular approach in the part of hardware design,mainly include power supply module,RS485 data acquisition module,the main control module and Wi-Fi wireless communication module.On the basis of the designed hardware of the teaching collector,the embedded software design of the teaching collector is carried out according to the principle of low coupling.Using the hardware abstraction layer(BSP)as the bridge,the separate development of the application code layer(APP)and driver layer(Drive)become possible.The software design of the slave computer is mainly to achieve the functions including the data acquisition of encoder,the modification and feedback of teaching parameters and the Wi-Fi wireless communication.Corresponding to the slave computer teaching collector,a humanized PC interactive control software is designed for the operators to control the teaching process and observe teaching informations.The design of interactive control software adopts the MVVM framework model to realize the reusability of the modules.The functions design of the host computer is mainly include good human-computer interaction of the teaching control interfaces,Wi-Fi wireless communication of the teaching data and instructions under the UDP network protocol,introduce clustering average filter algorithm and B-spline trajectory planning algorithm.An executable motion control code file for the working robotic manipulators is generated combined with RoboDK software to judge the feasibility of teaching tracks.After achieving the overall design of the teaching system for industrial manipulators based on non-powered joint arm,the functions of this system is analyzed and validated include the data acquisition,wireless communication,parameter setting,trajectory optimization and generation of control code file.The experimental results show that the design and implementation of the teaching system for industrial manipulators based on non-powered joint arm can realize the functions of teaching-optimization-playback tasks of the industrial robotic manipulators.The teaching system for six-degree-of-freedom robotic manipulators can reach the set performance indicators.The advantages of the system are easy operation,high interactivity,communication stability,smooth trajectory and so on.