Design Of Human-Machine Interaction Systems For Industrial Robots Based On QT

With the popularity of industrial robots in the industrial field,robots have become an indispensable device in industrial manufacturing.At the same time,industrial robots are widely used in industry,and human-machine interaction technologies are getting more and more attention from users and developers.Therefore,the human-machine interaction interface is required to have the characteristics of simple operation,friendly interface and humanization.According to the requirements of the industrial robots in human-machine interaction,the interactive system of teach pendant program of industrial robot and the 3D robot simulation monitoring are developed through QT5.Under the Modbus TCP/IP communication protocol,the human-machine interaction function of the Huibo ER50-C10 industrial robot body teaching,simulation and monitoring are implemented by using the robot motion controller,which is developed on the CODESYS platform by the PLCopen specification.The main works of this thesis are as follows:Firstly,the background,research significance,the research status and trends of human-machine interaction systems of industrial robot are reviewed.Secondly,the overall schemes of the human-machine interaction system of industrial robots are designed.The overall system and module functions are analyzed,the overall framework of the human-computer interaction system for industrial robots is built,and the software platform and related hardware are introduced.Thirdly,the overall communication scheme of human-machine interaction system is designed.The functional analysis of the interactive system is analyzed,and the data communication protocol and the communication of the master and slave stations are designed by master-slave mode of Modbus TCP/IP protocol,the experimental test is conducted.Fourthly,the interactive program of teach pendant is designed.the overall software architecture and functional requirements are analyzed through practical application,the main functions include the overall interfaces,parameter settings,button functions and LED indicator response,industrial robotic language interpreter and soft keyboard.Functions of the program aretested through the motion controller and the main body of the Huibo ER50-C10 industrial robot.Fifthly,the simulation monitoring terminal of the interactive system is designed.Under the PC,3D modelings of Huibo industrial robot ER50-C10 are established by using modeling tools.Meanwhile,a link coordinate system parameters is established by the D-H of the robot,which is used to analyze its kinematic.According to the mechanical structure assembly relationship,the3 D model is assembled in the QT by using the graphical interface OpenGL.Lastly program of the simulation monitoring terminal is tested with the experimental platform.Finaly,the full works of this thesis are summarized,and moreover the research works in future are prospected.