| The subject of this paper originates from the research and development of industrial robot project by the supervisor,which is used for the control of special robots.The research direction is functional modularization.The purpose of this paper is to develop a kind of joint robot with certain universality,which can be applied to different degrees of freedom and meet its basic control requirements.On this basis,it can also carry out secondary development of special robots with special requirements,thus eliminating a lot of preliminary work.Considering the open,real-time and stability of the operating system and the ease of application development,Befuk system was chosen.The main contents are as follows:Taking industrial PC industrial control integrated machine as hardware platform,the overall design of robot control system is analyzed,and a real-time control system architecture based on industrial PC +TwinCAT3+VS2015(MFC)software is proposed.Under the visual studio2015 software development environment,the human-computer interaction interface is programmed in MFC software platform using C++ programming language,with emphasis on the realization of teaching function.In the TwinCAT3 software platform,the basic motion control of the robot is programmed with the development idea of modules.The communication between VS2015(MFC)software and TwinCAT3 is realized through ADS communication.In addition to its own motion control,the motion control also requires external auxiliary equipment to cooperate with the motion of the robot.Therefore,it is necessary to realize the communication between external equipment and industrial PC,so the modular design of Modbus RTU and ADS communication is mainly introduced.Finally,the control system was debugged,and the experimental verification of the control system was completed with the bearing ring forging blank handling robot as the experimental object.The results basically met the design requirements and proved the reliability of the control system. |
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