基于QT的工业机器人人机交互系统的设计
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摘要
本文针对工业机器人的人机交互需求,设计了一种基于QT开发框架和Modbus通信协议的人机交互系统。基于Modbus TCP/IP通信技术,设计了示教器、3D仿真监控终端和运动控制器之间的数据通讯协议;在嵌入式操作系统下,使用C++语言开发示教器上位机交互程序,主要包含数据通信、示教点管理、程序编辑、机器人语言解释器等模块;在Windows系统下,通过SolidWorks建立工业机器人3D模型,利用计算机标准图形接口OpenGL开发3D仿真监控程序。最后,结合基于PLCopen规范开发的运动控制器实现了对汇博ER50-C10工业机器人本体的示教、3D在线仿真和实时监控,验证了所设计人机交互系统的实用性。
According to the requirements of the industrial robots in human-machine interaction, a human-machine interaction system is designed based on QT development framework and Modbus communication technology. Data communication protocols of the teach pendant, the 3 D robot simulation and monitoring terminal and the motion controller are designed by using Modbus TCP/IP communication technology. Under the Linux operating system, a human-machine interaction program of the teach pendant is developed by using C++ programming language, which mainly includes data communication, teaching point management, program editing, and industrial robot language interpreter; In the Windows system, 3 D models of industrial robots are established through SolidWorks, and the simulation and monitoring program is developed by using the standard graphical interface OpenGL of the computer. Finally, based on the motion controller developed on PLCopen standard and the Huibo industrial robot ER50-C10 robot teaching, 3 D online simulation and real-time monitoring are implemented, and the practicability of the designed human-machine interaction system is verified.
According to the requirements of the industrial robots in human-machine interaction, a human-machine interaction system is designed based on QT development framework and Modbus communication technology. Data communication protocols of the teach pendant, the 3 D robot simulation and monitoring terminal and the motion controller are designed by using Modbus TCP/IP communication technology. Under the Linux operating system, a human-machine interaction program of the teach pendant is developed by using C++ programming language, which mainly includes data communication, teaching point management, program editing, and industrial robot language interpreter; In the Windows system, 3 D models of industrial robots are established through SolidWorks, and the simulation and monitoring program is developed by using the standard graphical interface OpenGL of the computer. Finally, based on the motion controller developed on PLCopen standard and the Huibo industrial robot ER50-C10 robot teaching, 3 D online simulation and real-time monitoring are implemented, and the practicability of the designed human-machine interaction system is verified.
引文
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[14] 李朝阳,平雪良,齐飞,等.CoDeSys环境下6R工业机器人运动控制研究[J].机械设计与制造,2016(10):114-117
[15] 杨杏,陈富林,周霏.基于QT的工业机器人语言系统的设计[J].组合机床与自动化加工技术,2015(3):71-74
[16] 何嘉健,李伟光.基于GRETA正则表达式的机器人解释器的研究[J].组合机床与自动化加工技术,2012(1) :17-24
[17] 李想,钱欢,付庄,等.基于QT和OpenGL的机器人离线编程和仿真系统设计[J].机电一体化,2013,19(4):56-59+88
[18] 刘芳,刘贤梅.3DS文件读取、绘制与控制方法的研究与应用[J].计算机工程与设计,2009,30(19):4575-4578
[19] 张冬梅,喻勇涛,刘志林,等.基于OpenGL的机械臂虚拟仿真[J].机械制造,2010,48(9):46-49
[ 2] 谭建荣.智能制造与机器人应用关键技术与发展趋势[J].机器人技术与应用,2017(3):18-19
[ 3] 刘和彬.基于VR的工业机器人任务仿真与实时监控研究[D].沈阳:东北大学机械工程与自动化学院,2013.14-66
[ 4] 王田苗,陶永.我国工业机器人技术现状与产业化发展战略[J].机械工程学报,2014,50(9):1-13
[ 5] 徐翔,谈士力.基于ipad的机器人示教器及控制系统研究[J].工业控制计算机,2016,29(6):108-109+112
[ 6] 潘俊浩,卓勇,侯亮,等.一种基于unity3d的工业机器人示教系统设计方法[J].组合机床与自动化加工技术,2017(7):110-115
[ 7] 夏飞虎,叶瑛歆,胡天亮,等.基于Protobuf的机器人示教器软件设计与实现[J].制造技术与机床,2016(5):99-103+108
[ 8] 沈雅琼.基于WinCE的工业机器人示教器软件设计[D].武汉:华中科技大学机械科学与工程学院,2014.1-48
[ 9] Wicks M,PLC-based robotic controls versus OEM robotic controls:what’s the best choice for your application[R].Intelligrated Inc.,USA,2011
[10] Dai F,Becker O,A PLCopen-based approach for utilizing powerful industrial robot functions in PLC-controlled applications[J].Advances in Sustainable and Competitive Manufacturing Systems,Lecture Notes in Mechanical Engineering,Springer International Publishing Switzerland,2013.547-557
[11] 全国工业过程测量和控制标准化技术委员会.基于Modbus 协议的工业自动化网络规范[S].GB /T 19582—2008,北京:中国标准出版社,2008
[12] 张盛山,尚文利,万明,等.基于区域/边界规则的Modbus TCP通讯安全防御模型[J].计算机工程与设计,2014,35(11):3701-3707
[13] 文生平,陈端平,刘其信.基于QT的激光导引移动机器人监控系统设计[J].自动化与仪表,2016,31(8):6-9
[14] 李朝阳,平雪良,齐飞,等.CoDeSys环境下6R工业机器人运动控制研究[J].机械设计与制造,2016(10):114-117
[15] 杨杏,陈富林,周霏.基于QT的工业机器人语言系统的设计[J].组合机床与自动化加工技术,2015(3):71-74
[16] 何嘉健,李伟光.基于GRETA正则表达式的机器人解释器的研究[J].组合机床与自动化加工技术,2012(1) :17-24
[17] 李想,钱欢,付庄,等.基于QT和OpenGL的机器人离线编程和仿真系统设计[J].机电一体化,2013,19(4):56-59+88
[18] 刘芳,刘贤梅.3DS文件读取、绘制与控制方法的研究与应用[J].计算机工程与设计,2009,30(19):4575-4578
[19] 张冬梅,喻勇涛,刘志林,等.基于OpenGL的机械臂虚拟仿真[J].机械制造,2010,48(9):46-49