| Recently,with the improvement of social productivity and the improvement of people's service level requirements,the limitations of single-arm robots have gradually manifested.They are unable to perform high-performance tasks in changing environments,such as the installation and maintenance of complex parts.This usually considers multiple robots working together to solve the problem.Therefore,based on the single-arm industrial robot controller technology,in response to the localization of robot controllers and the need for high-performance software operation support,the design and implementation of the logical architecture of real-time multitasking system software and key modules of the dual-arm robot are presented systematically in this dissertation.Firstly,the research and market demand of domestic and foreign industrial robot controllers are reviewed,and the requirements of dual-arm robot controller systems in robot control functions,collaboration functions,and real-time performance are discussed.In response to these needs,the overall architecture of the dual-arm robot controller real-time multi-task system software based on the hybrid kernel operating system is designed,the key modules within the software are re-optimized and upgraded,and a new task communication scheme and the management plan of system configuration parameter are introduced.Secondly,taking into account the flexibility and convenience of user operations,in addition to online dragging and teaching,the controller system is designed to implement a multi-machine programming language,providing users with the function of offline programming and operating two or more robotic arms to perform tasks simultaneously.Since multiple manipulators may collide with each other when they work together in overlapping motion spaces,the algorithm of robot bounding model is introduced and the self-collision detection function is realized.Then,in order to improve the collaboration performance between tasks,taking the competition among tasks for shared resources as constraints,the problem of task group assignment is discussed,the task assignment of the controller system on the multiprocessor is realized,and the overall performance of the software is improved.Then,due to the multiplication of the controller software communication objects,it may cause synchronization problems in industrial Ethernet communication.Therefore,the master-slave synchronization clock calibration method of the drive equipment is discussed and the robot equipment interface task is optimized.Finally,with the domestic dual-arm seven-axis redundant robot as the control object,the system integration function and test plan are designed,and the correctness and effectiveness of each module function of the robot control system software are verified through experiments. |
PDF Full Text Request