| With the establishment of “The 13 th five-year development planning in robot industry”,the robot industry becomes the key of manufacturing industry transformation.However,there is a big gap between native and foreign robots in market share and R & D capability.Although there are some objective reasons,for example,native robots starts late,core hardware rely heavily on imports,the most important reason is that robot system have poor reliability,openness and creativity.This paper focuses on study of robot system software.This paper discusses the problems of the existing robot system and analyzed the reasons,and then puts forward a software development method for industrial robot system based on Agent.Agent is regarded as an active object that has a lot of characteristics such as reactivity and initiative,has been studied and applied in robotics and other fields.According to Agent theory and specific requirements of industrial robots,this paper designs respectively every Agent module,Agent operating mechanism and Agent communication mechanism of industrial robot system,and then the software architecture for industrial robot system is completed.At the same time,the universal six-axis robot of state key laboratory of mechanical system and vibration is used in the process of software development.Finally,the industrial robot system software is implemented with the aid of development tools such as Windows CE,C++ and Visual Studio.In addition,considering that original trajectory planning is not perfect enough,this paper studies theory about robot kinematics and trajectory planning,and puts forward and finished smooth transition planning based on Bezier fitting algorithmFinally,this paper designs the experiment reasonably,and analyses experimental data and program running results.The experiment proves that the system software satisfied requirements of industrial robots,and also verifies the feasibility of the trajectory and smooth transition planning. |
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