摘要
针对传统机器人运动控制器成本高、体积大等不足,在工业机器人控制原理基础上,提出一种采用ARM系列嵌入式系统的多轴运动控制器上位机编译控制方案。该方案采用了Linux操作系统,以Qt/Embedded为框架设计了用户操作界面,提供了强大的触摸编辑能力,以逆运动学解算为原理VAL语言为基础设计了一套机器人控制语言,基于Lex和Yacc开发了从机器人语言到机器码的编译解释程序,提供了常用的端点示教和单轴示教功能。该系统成功应用于am3517平台,实际应用表明,该系统运行可靠,易操作,界面友好。
To make up the limitation of high cost and big size of traditional robot motion control system, this paper presents a compiling control scheme for the host of multi-axis motion control system using ARM embedded system based on industrial robot control theory. The scheme works on Linux operating system, designs a graphic user operating interface using Qt/Embedded as the framework, and provides powerful editing capability through touch screen.. Using inverse kinematic solver as the principle and based on VAL language, we design a set of robot control language, and develop the compiling interpreting programs from robot control language to machine code using Lex and Yacc, also provide common teaching functions of endpoint and single axis. This system has been successfully applied in am3517 platform, actual application shows that the system is reliable, easy to control and friendly in interface.
出处
《计算机应用与软件》
CSCD
2015年第7期228-231,243,共5页
Computer Applications and Software
基金
国家自然科学基金项目(60875074)
关键词
多轴运动控制器
机器人语言
示教编程
Multi-axis motion control system Robot language Teaching programming
