基于PC的工业机器人教学系统

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1、同济大学职业技术教育学院硕士学位论文基于PC的工业机器人教学系统姓名：吴晓飞申请学位级别：硕士专业：信息与信号处理指导教师：沈介文20050301ABSTRACTWithadosedstructureoftheircontroldevice，theapplicationofrobotssuffersmanylimitationsbecauseneithertheirhardwarenortheirsoftwareiseasytoexpandandmodify．Tocarryoutrobot-controlledinstructionalactivitiesandexperiment

2、s，itbecomesverynecessarytoallowthecontroldeviceadegreeofopennessbyintegratingtheresearchoutcomesofrelatedfields．Throughthepresentresearch，circuitdesigningandsoftwareprogrammingfortheinstructionalsystemhavebeencompletedontheindustrialrobotmodel(fischertechnik)manufacturedbyFischercompanyofGerma

3、ny,andcontrollingrobotbycomputerandMCUrealized．Inthethesis，theauthorgivesadetailedanalysisconcerningthedesigningofsystemstructure，thechoiceoftechnicalproject,andthedefiningoffunctionalmodules，andabr．iefintroductionaboutthetechnologicalapplicationinrel．atedfieldsaswell．AT89S52MCUistheco—reofthe

4、hardwarecircuits．Everyfunctionalcircuithasbeendesignedtobeamoduleinitsownright．TheyincludeaMCUmodule、aCPLDmodule、apoweroutputmodulefordrivingexecutivepartsoftheindustrialrobotsuchasmotor,electromagnetismvalve，andlamps，alloutputdrivingmodulefordrivingthepowerrelaydeviceinthepoweroutputmodule，ap

5、hotoelectricinputmoduleforcarryingoutphotoelectricswitching,anon-offinputmoduleforcompletingon-offswitching,andanadjustableresistancemodulefortheadjustableresistanceoftherobottobeconvertedintothesignalsofthedectricpressure．Thesoftwareprogramminginvolvestheusersurfaceoftherobotcontrollingsystem

6、，thesoftwareforthecommunicationbetweenthecomputeranditssecondaryMCUthroughinterface，andthesoftwareforinstructionalre-demonstration．PC—basedrobotcontrollingsystemoffersresearchersandoperatorsanopenandexpandableplatformwiththeimprovedcalculatingability．Itisaconvenientandstableaudio-visualplatfor

7、mtobeappliedininstructionandexperiments．Keywords：structureofRobotcontrollingsystem，instructionalprogramming，MCU，VisualBasic,C51languageII学位论文版权使用授权书本人完全了解同济大学关于收集、保存、使用学位论文的规定，同意如下各项内容：按照学校要求提交学位论文的印刷本和电子版本；学校有权保存学位论文的印刷本和电子版，并采用影印、缩印、扫