The Research Of The Industrial Robots' Measurement And Control Software System Based On The Component

The structure of the traditional industrial robot's controller is closed,which has many disadvantages,such as the poor openness,independence of the software,fault tolerance,scalability,and the lack of the internet function.It's hard to expand and change the software and hardware.In order to meet the requirement of the production, the users usually have to rebuild the robot,based on analysis of the existing one's system,that's are laborious and effectiveness.The cardinal way to solve this problem is to study and develop the robot's controller with open structure,especially the software system.In this paper,by using the component-based software multiplexing technology,the function component of the system's each modular and the open software system, composed by them ware designed.Based on the software component theory,the frame of the software system was designed,which was distributed into several layer, such as customer interface layer,software application layer,hardware driving layer, and the like.So as to design the components corresponding to each modular,and to reduce the coupling relations between components.Based on these,the building of the industrial robot' components were studied,and the models of the industrial robot's each modular were designed,using the OpenGL technology.Besides,the function components implementing the assembling and the animation of the robot's model were proposed.In playback modular,the description of the posture,kinematic analysis,and the trajectory planning were analyzed in detail.And the often-used homogeneous transformation matrices,such as the description of the posture,the kinematic analysis,were packaged.Based on these,it's concluded that the component-based design of the playback modular is feasible.At last,the platform of the system,operating system,and the developing tool were discussed in the application part of the system,and combining with the interface of the software,the design idea of this system was further illustrated.According to the running task,the testing and controlling system of the industrial robot studied in this paper can generate the system's goal,by combining the existing function components and adding some interface parameters.This system can generate the program quickly,and the operation is also very simple,which maps human's thinking.Each function component is developed independently,and communicates with each other through interface.That's a loose-coupled relationship.The new component can be developed as required,and replaces the original one,without changing other components.So as to pressure the openness,generality and the scalability of the whole system.