基于RSI的工业机器人开放式控制系统设计

为提高工业机器人的柔性化及智能化水平,同时满足数据的实时共享、监控,使控制系统具有可扩展性与可移植性,设计了一种基于x86平台和RSI的工业机器人开放式控制系统。引入RSI后可载入应用程序包,实现PC工控机与KUKA机器人系统的实时性数据交换。运用模块化设计思路,针对硬件系统,制定软件系统平台的各功能模块,配合Windows操作系统的数据处理能力,在保证工业机器人实时性的前提下,实现了功能的扩展性和增减性。该系统在KUKA工业机器人力反馈实验平台上进行了可行性验证,试验表明,此开放式控制系统的实时响应性良好,满足预期控制要求。

Design of Open Control System for Industrial Robot Based on RSI

To improve the flexibility and intellectuality of industrial robots,which can meet the requirments of the real-time sharing and monitoring of data,its control system can meet the scalability and portability,an open control system for industrial robot based on x86 platform and RSI is proposed.RSI is introduced to a reloadable application package,which can be used to realize real-time data exchange between PC for industry control and KUKA Robot system.And then,the modular design is applied to the develop ment of the functional modules of the software system platform for the hardware system with the data processing capability of the Windows operating system and the function expansibility and increase and decrease are realized on the premise of guaranteeing the real-time performance of the industrial robots.The feasibility of this system is verified on the feedback experimental platform of KUKA industrial robot force.The test result shows that the real-time response of this open control system is good and meets the expected control requirements.