In this paper, a three-axis desktop industrial robot is used as the platform to simulate the workpiece environment using an improved grid method. The path planning process incorporates weighted priorities for different tasks, and a versatile control software is developed to reduce the need for reprogramming when handling various workpieces. This approach minimizes the inconvenience of rewriting code for each new task.
Currently, industrial robots are increasingly being integrated into manufacturing processes, and numerous companies in China are now involved in industrial robot development. However, due to varying customer requirements, engineers often have to write custom programs to meet specific needs. As a result, most of these companies operate within the "non-standard" industry sector. Despite this, the same robot is often used in different environments, which presents significant challenges in terms of software versatility and adaptability.
The robot system framework involves sending instructions from the control software to the SmartPAC motion controller. The controller translates these commands into axis movements and sends them to the corresponding servos. These servos then execute the actions based on the received commands. A parameter input terminal is connected via a USB interface from a mouse and keyboard to the controller, which runs on the WinCE operating system. The control software operates within this environment, allowing users to set parameters through the input device or use general-purpose software to analyze and determine an optimal processing path. Once the path is determined, the corresponding instruction set is sent sequentially to the axes, enabling the robot to perform the required workpiece processing.
The framework of the industrial robot system is illustrated in Figure 1.
[Image: Universal control software based on three-axis desktop industrial robot platform]
The general control software is designed for a three-axis desktop industrial robot composed of three Yamaha single-axis servos and a SmartPAC motion controller. The three axes—X, Y, and Z—form a three-dimensional space, with the workpiece fixed on the Y-axis, positioned within the XY plane. A total of N machining points are distributed across the workpiece.
Users only need to input the model of the workpiece and the positions of the machining points through the software control interface. The model is gradually decomposed using a grid-based approach, and each machining point is identified one by one. Following that, the software analyzes and determines the most efficient path, aiming to complete the task in the shortest possible time.
The interface of the general control software for the three-axis desktop industrial robot is shown in Figure 2. It is divided into four main sections: the parameter setting panel in the upper left, the axis position display in the lower left, the control operation panel in the upper right, and the axis test panel in the lower right. This test panel allows users to verify if the axes are functioning correctly. Detailed explanations of the parameter setting and control panels will follow.
[Image: Universal control software based on three-axis desktop industrial robot platform]
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