Research On Reconfigurable Robot Software Experimental Platform Based On PC Architecture

Robot experiment teaching plays an important role in courses such as "Principles of Machinery" and "Robotics",and is an important means for students to connect theory with practice.Aiming at the problems of expensive experimental platform and low experimental teaching efficiency in the current robot experimental teaching,this paper designs a low-cost reconfigurable robot teaching experimental platform based on PC motion control technology.According to different experimental requirements,students can realize the construction of the control system in the way of assembly of components;and for the motion control of specific robots,the kinematics calculation and motion control of the robot can be realized by scripting and open to users,which can be expanded the motion control method of the experimental platform and enables students to better understand and feel the process from knowledge to practice.The main work of this paper includes the following:First of all,in order to reduce the cost of the experimental platform and more convenient access to the robot experimental equipment,the architecture of a networked robot experiment platform based on PC architecture and Ether CAT bus is designed and implemented.The communication scheme of the Ether CAT master station in the experimental platform is studied,and the Ether CAT master station embedding method based on the SOEM open source library is designed.Then,the application program interface was expanded on the basis of it,which realized the management of the life cycle of the Ether CAT master station and slave station equipment by the experimental platform,and provided data communication services.Secondly,in order to adapt to different robot experimental scenarios and realize flexible control system layout,the reconfigurable realization method of the control principle of the robot experimental platform is put forward.The way that the experimental platform adopts PC control to realize all the control logic in the PC software is analyzed,which explained the principle and method of componentizing the control function of the robot experimental platform in the PC software.The structure model of the component and the interface specification including the operating mechanism of the component-based robot experiment platform is also designed.And the realization method of using JSON script as the experimental scene description language is studied to achieve persistent storage and sharing of robot experiments.In addition,in order to improve the openness of the experimental platform,a scripted open robot motion control method is put forward.Specifically,taking into account the convenience of script interpreter implementation and the scalability of scripts,based on the Java Script scripting language,the robot kinematics script description method is designed to realize the robot's scripted motion control mechanism,and the robot kinematics library Robot.js is developed,which simplifies the analysis and calculation process of robot kinematics;In addition,a generalized motion control method of the robot is designed,considering the versatility and simplicity of control commands,and the CNC control instruction G code is used as the general language of the robot to realize the programmable motion control of the robot.Finally,the experimental method of the robot experimental platform was designed and implemented.The general robot motion control experiment and the small-scale production line processing experiment verified the versatility and scalability of the experimental platform,and proved that the robot experimental platform can be applied to the motion control of a variety of different robots,which can meet the needs of complex robot experiments.