Research On Economic Robot Control System Based On WinCE

This study is based on the research and development of "economical industrial robot" project,intended to develop economical robot control system with low economic cost,independent intellectual property rights,and satisfy secondary development for some special requirements.The main work of this study is to build software and hardware system platform,the realization of software and hardware communication problem,motion control function,and the realization of teaching function.The WinCE operating system is selected in consideration of the real-time stability of the operating system and the difficulty of application development.The following contents are mainly studied:To control of industrial touch screen is adopted in this study,first of all,TC-0070-G as hardware platform,analyses the overall design of the robot control system,this study proposes a WinCE 5.0 based real-time embedded PC control system,and implements the serial communication with the controller.In the software development environment of Visual Studio 2005,the design of control system software was carried out through C# programming language,dynamic link library and multi-threading technology.On the basis of the WinCE platform,by analyzing the function of the robot teaching device,two major functions need to be realized,namely,man-machine interactive function and demonstration movement function.The software of the teaching device is divided into:HMI man-machine interface module,communication module and document module.Using multithreading technology,the HMI module is used as the main thread,communication module and document module as two branches.At the same time,it adopts Modbus serial port communication protocol to realize cross-platform communication between the teaching and controller.In the end,the control system is adjusted,and the motor position control box is completed.Finally,the connection test of the control system is carried out,and the result is verified to meet the design requirements,which shows that the control system is reliable.