基于KAREL语言的FANUC机器人开源控制系统设计

针对FANUC机器人控制系统开放性差问题，设计一种基于KAREL语言的机器人开源控制系统。基于Coppeli-aSim远程API接口文件，联合MATLAB、CoppeliaSim平台，设计离线仿真系统；通过开发上位机控制软件与KAREL程序，建立机器人控制器与上位机间基于TCP/IP协议的通信，实现了上位机对机器人的在线控制；并结合数字孪生技术，实现了虚拟样机与物理样机的同步运行。最后，基于FANUC M-20iA机器人实验平台验证了该机器人开源控制系统的可行性。

Design of Open-Source Control System for FANUC Robot Based on KAREL Language

Aiming at the poor openness of the FANUC industrial robot control system,an open-source control system for robots was designed based on KAREL language.Based on the CoppeliaSim remote API interface file,the offline simulation system on MATLAB and the CoppeliaSim platform was designed,and the communication between the robot controller and the upper computer based on the TCP/IP protocol was established through the development of the upper computer control software and the KAREL program,and the online control of the robot by the upper computer was realized.Combined with the digital twin technology,the virtual prototype and the physical prototype were synchronized.Finally,based on the FANUC M-20iA robot experiment platform,the feasibility of the robot open source control system is verified.