基于CoDeSys平台的六自由度工业机器人运动控制器设计

Design of 6 DOF Industrial Robot Motion Controller Based on CoDeSys Platform

摘要:

针对ER50六自由度工业机器人,基于CoDeSys软件平台开发了一款机器人运动控制器。采用ARM+CoDeSys架构和PLCopen规范进行六自由度工业机器人控制系统软件开发以及人机交互界面设计。首先根据D-H参数对ER50机器人进行运动学建模,并在此基础上封装ER50机器人正逆运动学功能块；然后对控制器的示教模块、点动模块以及在线编程模块进行软件开发并设计各个模块的人机交互界面。在ER50机器人上实现了运动控制器在线示教、点动以及在线编程等功能；最后通过直线和圆弧轨迹跟踪实验验证了运动控制器设计的有效性。

Abstract:

Aiming at ER50 industrial robot, a kind of robot motion controller is developed based on the CoDeSys software platform. Based on ARM+CoDeSys architecture and PLCopen specification, the 6 DOF industrial robot control system software and human-computer interaction interface are designed. Firstly, the ER50 robot kinematics is modeled according to the D-H parameters, and ER50 robot inverse kinematics block is packaged. Then, the teaching module, jogging module and online programming module are developed and the interactive interface of each modules are designed. The motion controller online teaching and online programming function are achieved on the ER50 robot. Finally, the experiments of linear and arc trajectory tracking verify the effectiveness of motion controller.