摘要
针对传统工业机器人需通过固定面板进行控制导致的机器人操控距离限制的问题,提出一种基于Android的工业移动机器人远程控制系统。根据系统功能需求,搭建系统架构。通过运动学正解可确定工业机器人末端执行器的坐标,通过运动学逆解可得到机器人执行器末端的转角角度,通过插补算法控制机器人运动轨迹。重点设计Android终端所在的远程应用层的远程控制模块和仿真加工模块。最后,利用PHP语言和TCP/IP传输协议构建了系统运行环境,对软件进行仿真测试。结果表明,本系统可通过基于Android的终端实现对工业机器人的远程监控与控制和模拟加工,提高了工业机器人的远程控制效率,降低控制成本。
Aiming at the problem of robot control distance limitation caused by the traditional industrial robot needs to be controlled through a fixed panel,a remote control system of industrial mobile robot based on Android is proposed.According to the functional re-quirements of the system,the system architecture is built.The coordinates of the end effector of the industrial robot can be deter-mined through the forward kinematics solution,and the angle of the end effector can be obtained through the inverse kinematics solution.The motion trajectory of the robot is controlled through the interpolation algorithm.The remote control module and sim-ulation processing module of the remote application layer where the Android terminal is located are mainly designed.Finally,the system running environment is constructed by using PHP language and TCP/IP transmission protocol,and the software of indus-trial robot is simulated and tested.The results show that the system can realize the remote monitoring,control and simulation pro-cessing of industrial robot through the Android based terminal,improve the remote control efficiency of industrial robot and re-duce the remote control cost.
作者
纪娜
JI Na(Yangling Vocational and Technical College,Yangling 712100 China)
出处
《自动化技术与应用》
2022年第11期27-31,共5页
Techniques of Automation and Applications
基金
杨凌职业技术学院教改课题(JG20-37)。
