【作者】 杨威；

【导师】 叶伯生；

【作者基本信息】 华中科技大学 ， 机械工程， 2011， 硕士

【摘要】 机器人技术已广泛应用于工业、医学、科研和国防等各个领域,发挥着重要作用。示教装置是工业机器人的重要组成部分,它是实现机器人控制和人机交互的重要工具,对于运用在各种场所的工业机器人,基本上都需要经过示教后才能正常运行。操作者通过示教装置对机器人进行手动示教,控制机器人达到不同位姿,并记录各个位姿点的坐标。使用机器人语言进行在线编程,实现程序回放,让机器人再现程序要求的轨迹运动。本论文针对通用的六轴及六轴以下的工业机器人,提出了一种基于以太网的示教装置,其与机器人控制器组成上下位机结构,两者通过以太网进行通信。示教装置作为上位机,具有独立的硬件平台,其采用ARM+FPGA的架构,在ARM上运行操作系统,用FPGA来增加电路的灵活性。并研制出基于这种硬件架构的机器人示教装置。论文对示教装置的硬件设计、结构设计、控制逻辑和通信程序设计进行了详细的描述。其中重点讲述了硬件部分的设计,主要为电源设计,ARM与FPGA模块电路设计及其外围电路设计。最后对示教装置进行了测试来验证设计的正确性,结果表明示教装置能满足机器人示教编程和再现运行的功能,能够作为上位机对机器人进行操作。更多还原

【Abstract】 Robotic technology has been widely used in industry, medical, scientific research ,national defense, etc. And it has played an important role in these areas. Teach pendant has been an important part of the industrial robot. With teach pendant, the operator could make manually demonstration teaching move, control robot to reach different pose, and record the point coordinates of each pose. By using robot’s language, the operator could conduct online programming, realize playback for the program. And the robot could moved on the trajectory required by program. Design and research of teach pendant is generally undertaken by manufacturer of industrial robots.This thesis has bring out a kind of architecture based on Ethernet for common 6-axis industrial robots. The teaching device and robot controller composite upper and lower system structure, they communicate with Ethernet. The teaching device serve as upper system, adopt ARM and FPGA structure. On ARM runs operation system, and FPGA increase the flexibility of structure. A Development of the teaching device is performed. Hardware design, structure design, control logic and communication program design is described in detail. Among on them is hardware design, includes main power design, ARM and FPGA circuit design and their peripheral circuits.At the end, the teaching device has been tested to verify the correctness of the design, the results show that the teaching device can meet the requirement of robot teaching programming and representation.更多还原