Design and research of three-layers open architecture model for industrial robot software system

摘要

A novel software architecture model for the industrial robot is proposed in this paper to slove the problem of information redundancy and logic complexity which exist in the traditional software architecture designed by the up to down theory. In this model, the industrial robot software system is divided into three-layers: interaction layer, decision layer and physical layer based on the software layering theory. In this way, we improve the industrial robot system's data processing ability and response speed effectively. In order to improve the performance of software scalability and practicability, an open interface is set on each layer based on open software theory. To modified the system's ability of data processing ,we optimize the algorithm of kinematics and inverse kinematics. At last, We also implement this architecture model in the programming environment of Visual C++ 6.0 with MFC's Dialog Template and demonstrate its application in 4 axises industrial transfer robot. The result shows that this model can get a superior performance on the aspect of the robot's stability and improve the efficiency of production at the same time.