Six-axis cooperative robot development platform based on rapid control prototyping system

Abstract

The invention relates to a six-axis cooperative robot development platform based on a rapid control prototyping system. The platform comprises an upper computer, a power supply, the rapid control prototyping system and a six-axis cooperative robot, wherein the upper computer adopts a PC, and development software is loaded on the PC, the power supply provides AC 220V power for a development systemof the upper computer and provides DC 48V power to the rapid control prototyping system, the rapid control prototyping system is used for quickly controlling code generation and algorithm verification, performing data observation, and displaying real-time information and input control parameters of a robot, and the six-axis cooperative robot adopts a non-orthogonal cooperative robot with six degrees of rotation freedom. According to the platform, through a built-in closed-loop system, the upper computer is carried, and a motion state of the robot can be monitored in real time and adjusted online. According to the platform, through cooperative work of the development software and the rapid control prototyping system, a new control code can be rapidly generated and downloaded, so that rapiddevelopment and verification of a control algorithm are realized, the development time is greatly shortened, and the development cost is greatly saved.

Description

technical field [0001] The invention relates to the technical field of robot development, in particular to a six-axis collaborative robot development platform based on a rapid control prototype system. Background technique [0002] Since the emergence of industrial robots in the 1960s, robot technology has been more and more widely used in actual work production, such as machining, handling, welding, spraying, assembly, testing, etc. In these tasks, robots show high efficiency , high precision, more secure and so on. Industrial robots have high speed, high stability and high precision, and large loads, which can ensure and improve the quality of products. It has good versatility, but due to its bulky size and high-speed operation, safety issues cannot be guaranteed, making it impossible for humans to work with it. [0003] At the same time, due to the characteristics of many types of products in emerging industries, generally small size, and high requirements for flexibili...

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Problems solved by technology

[0005] Therefore, it is of great practical significance to design a robot development platform that can quickly realize control code generation and algorithm verification in view of the difficulties in writing control codes and implementing advanced algorithms in the existing six-axis collaborative robots.

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