Research On Multi-machine Centralized Control System Of Industrial Robot And Cnc Milling Machine Based On Container Technology

CNC machine tools and industrial robots are commonly used equipment in industrial production.At present,most common CNC machine tools and industrial robot control systems adopt embedded control scheme.The hardware platform is highly coupled to the software system.Because of the closed system of each monopoly manufacturer,it is difficult to realize the intellectualization and coordination of equipment in the industrial production site.In recent years,benefit from the increase in computing power of common computing hardware and the development of open numerical control system and open source robot control platform as well as the hardware virtualization technology,fieldbus technology have matured.It makes it possible to develop a CNC machine tool control system and an industrial robot control system that use general hardware as the computing platform,open software as the control system and field bus to realize the communication between the upper and lower computers.In this thesis,based on the open CNC system Linux CNC and the open source robot operating system ROS,the Ether CAT fieldbus is used as the communication method,and the robot body FOXBOT-A1200 produced by Foxconn is used as the control object to build the ROS based FOXBOT robot control system.Use the trajectory planning package Move It! and the simulation package Gazebo provided by ROS,a Move It!+Gazebo Cosimulation environment of FOXBOT-A1200 robot is built.With Ig H Ether CAT Master as the master station protocol stack,Maxin EP3 E series Ether CAT bus servo driver is used as the slave station,and the Ether CAT master-slave communication driver module is developed to realize the correct control of the slave station.Then,using the ros?control package to realize the communication between Move It! function package and the underlying hardware,and achieved the function of using Move It! to control the real devices.At the end of this article,using container technology as the hardware virtualization technology,the Docker container engine is used to deploy the control system in the container.Under the simulation environment,a common hardware is implemented to run multiple control systems in multiple containers at the same time.Attempts were made to exchange data between the control systems.