Design And Implementation Of Intelligent Middleware For Industrial Robots

With the continuous development of robot technology,robots are playing an increasingly important role in actual industrial production.With the widespread use of robots,robot software development is also facing more and more uncertain technical challenges,and needs to meet the needs of different scenarios and tasks to adapt to the complex working environment.In the actual development process,the robot's software and hardware are highly coupled,the code reuse rate is low,the development professional requirements are high,and the development efficiency is low.At the same time,in the face of complex problems in actual industrial production,it often requires multiple robots to cooperate with different industrial equipment.How to make robots cooperate better with other devices is also an important research question.In response to the robot software development issues raised above,this paper designs an intelligent middleware for industrial robots.The middleware is easy-to-use,supporting concurrency and intelligent interconnection of nodes.The main contributions of this article are reflected in the following four aspects:1)This paper proposes a design and implementation of middleware technology for industrial robots.The middleware is aimed at robot application development and communication needs,and uses a decentralized distributed node design to provide users with remote procedure calls and publish/subscribe functions.At the same time,the middleware provides a simple and easy-to-use function interface,allowing users to focus on the realization of the robot's application code without paying attention to the underlying communication details.2)The middleware introduces the contract network bidding mechanism.Users can design the resource information of the bidding document according to actual application requirements.The underlying middleware dynamically selects the node with the highest comprehensive ranking as the winning node through the resource information submitted by the service node,and executes the corresponding task.3)Design an independently deployed bridge module.The middleware realizes the Websocket bridge module,Ether CAT bridge module,serial bridge module and ROS bridge module to support communication between device nodes using third-party protocols or middleware and native nodes of the system.4)Design basic tests and application cases,in which basic tests verify the effectiveness of the middleware function,and perform a performance comparison with ROS to verify that the middleware has better performance.Aiming at the actual robot application scenarios,two application cases are designed,the online robot teaching system and the Delta robot assembly line dynamic sorting system,to test the application of the middleware.The experimental results verify the effectiveness and practicability of the middleware.