Research And Verification Of A Virtual Teaching Devive For Multi-joint Robot

Along with the rapid growth of manufacturing business,industrial robots have been extensively used in various fields,and have become an important force for industrial manufacturing enterprises to realize automation and intelligent manufacturing upgrading.As an important equipment,the performance of robot indicator serves an important part in the ease of user operation and the teaching efficiency of industrial robot system.However,the existing robot teaching device is developed and designed by different robot manufacturers,there is no special application standard,there are shortcomings such as lack of versatility,cumbersome programming interface and unintuitive operation.Aiming at the difficulty of robot teaching programming operation,this thesis designs and implements a virtual teaching device of multi-joint robot based on Blockly graphics programming principle.The virtual teaching device software encapsulates the forward and inverse kinematics algorithms of the robot,the robot motion control instructions,the Python conversion language package and other graphical languages in the motion control system to generate the custom motion control block instructions,and supports the driving control of the multi-joint robot.The main contents of this thesis are as follows:(1)Developing the framework of multi-joint robot motion control system.In this thesis,the motion control function of the virtual teaching device is designed and verified from software design and hardware implementation.In software design,open source Blockly graphical programming is used to generate custom motion instruction block and realize communication connection,manual control,teaching programming and other motion control functions.At the level of hardware implementation,the motion controller of solid robot is developed by single chip microcomputer,which is converted into pulse control stepper motor through Modbus-TCP protocol analysis,and then drives the motion control of solid robot.(2)Developing and implementing robot virtual teaching device software.In this thesis,the virtual teaching device software is implemented through the Web end of the PC platform.Theoretical analysis and algorithm implementation are respectively conducted on the forward and inverse kinematics and robot control instructions,and these kinematics algorithm and Python conversion language package are encapsulated in XML.Use open source Blockly graphical programming to generate custom motion instruction block to achieve motion control function.(3)Implementing robot motion controller system stepper motor drive.According to the general requirements of multi-joint robot motion,the physical robot motion controller is developed by using STM32 chip.The system should include: Flash module,SD storage module,power module,Modbus-TCP data parsing module,DI/DO module,RS485 module and six-axis pulse servo drive.The whole system sends control instruction signal through the virtual teaching device of PC host as the upper computer,and sends six-axis pulse to drive the physical robot to move through the data analysis of STM32 chip.In this thesis,the motion control function of virtual teaching device is developed from software design and hardware implementation,and teaching control is successfully realized.Simulation and experimental results show that the teaching device software designed in this topic has good feasibility and strong applicability,and it is easy to use and easy to operate.