The Design And Implementation Of Industrial Robot's Teaching Pendant Docking With EPLC

In 2015,China has taken industrial robots into Priorities of Nation's Scientific and Technical Innovation.Teaching Pendant is an important component of industrial robots,its performance plays a key role in the industrial robots.For now,the common solution of control system for industrial robots takes the specific controller,its teaching pendant's function is relatively single lacking of language compiling and trajectory planning,resulting in their worse scalability and infeasibility of further development.The ePLC technology,namely embedded PLC,presented by the laboratory I am working for has been gradually developed and successfully applied to the equipment control systems such as winding machine and injection molding machine of which the characteristics of further development ensure its greater advantages in the field of industrial robot controller.Giving a solution for industrial robot control based on ePLC technology:multiple non real-time tasks are taken by teaching pendant which runs on a tablet,while real-time tasks are accomplished by the ePLC controller.They communicate according to the CANopen protocol and connect in the mechanism of double-buffer queue.Non real-time tasks include language interpretation of robots,trajectory planing in Cartesian space and kinematics.Real-time task is the control of multi-axis motion movement of servo motors.This solution is of preferable scalability for the systems and their further development.This thesis does the research and realization of multiple non real-time tasks in the solution,and develops the industrial robot's teaching pendant systematically running on a tablet with Win8.Designing a instruction set for industrial robots and realizing interpreter to analyze the teaching program.Module of trajectory planning in Cartesian space consists of algorithm for trajectory's start-end and smooth transition of continuous trail.Module of kinematics focuses on forward kinematics and inverse kinematics of 6-axis robots.CANopen master protocol stack is applied to the communication between teaching pendant and ePLC controller.Finally,constructing an experimental platform to test the teaching pendant systematically with available sources of the laborary.