Research On Software Control System And Graphical Programming Of Six-Axis Industial Robot Based On LinuxCNC

With the progress of society,the development and innovation of science and technology,people's demand for robots is constantly increasing,and robots are also constantly applied in various industries.It not only occupies a pivotal position in the manufacturing industry,but also continuously dabbles in service industry,scientific and technological exploration and other fields.In today's industrial production,industrial robots are an indispensable part.It can replace people to work in dangerous,hard or repeated working environment,can accept people's command,and can also be executed according to pre-written procedures.With the more and more extensive application of industrial robots,people need a simple and humanized operation platform,i.e.human-computer interaction interface,to operate them.Industrial robots are mainly composed of control system,main body and drive system.This paper takes the software control system of six axis robot as the research content,designs a software control system with complete functions and friendly man-machine interface,and realizes the research results on the Linux CNC system.Firstly,this paper analyzes the different architecture of six axis industrial robot control system,describes the functions and requirements of the control system,and introduces the overall framework of the control system with Linux CNC as the core.Then,in order to describe the pose of six axis industrial robot in space,the D-H model of industrial robot is established and its forward kinematics equation is derived.The first three joint angles are solved by using the position information of the robot end effector,and the last three joint angles are solved by using the attitude information of the robot end effector.Then,in order to make the industrial robot be able to deal with complex curves,this paper introduces the NURBS curve and deduces its guide vector,and calculates the interpolation parameters of the NURBS curve by the chord section iteration method.In order to solve the problems of impact and vibration in the process of machining,S-shaped speed planning algorithm with continuous acceleration and no mutation is used.According to the characteristics of S-type acceleration and deceleration curve,a speed planning method based on interval planning is proposed.Finally,combined with the specific technical requirements of industrial robots,using Python language and QT high-efficiency graphics library for graphical programming,design the human-computer interface and three-dimensional simulation model of the robot control system,so as to get a complete robot control system.On the platform of the system,the experiments of interface function,forward kinematics,inverse kinematics and NURBS interpolation are carried out.The results show that the system can complete all kinds of algorithms correctly and achieve the expected goal.