Aiming at the control problem of an open six degree of freedom industrial robot based on WinCE, in the VS2008 development environment, the remote debug mode is used to connect the controller to realize the development of control software under the WinCE 6. 0 operating system built in the teaching device, the research and development of open six degree of freedom industrial robot control system are carried out. The whole scheme of the development of open robot control system is given, the hardware, software and core al-gorithm of the open robot control system are designed in detail. On this basis, the basic functions of the open robot control system, such as demonstration, playback, program management, automatic zero return and security management, are verified, the " 9 point handling experiment" was carried out by robot ontology to further verify the advantages of the open robot control system in the aspects of motion accuracy, stability and maximum allowable speed. This research has great innovation, strong practicability and good application prospect, when conditions are ripe, can be used in practice, the research is of positive significance for change the status quo of foreign " big four" families dominate the domestic market.%针对基于WinCE的开放式6自由度工业机器人控制问题,在VS2008环境下,采用远程调试模式连接控制器实现在示教器内置的WinCE 6.0操作系统下的控制软件开发,对开放式6自由度工业机器人控制系统进行了研究与开发.给出了开放式机器人控制系统开发的整体方案,对开放式机器人控制系统的硬件、软件、核心算法进行了详细设计.在此基础上,验证了开放式机器人控制系统示教、回放、程序管理、自动回零、安全管理等基本功能,通过机器人本体做"9点搬运实验"进一步验证了开放式机器人控制系统在运动精度、平稳性、最大允许速度等方面优越性.该研究具有较大的创新性、较强的实用性、较好的应用前景,条件成熟时,可以实际推广使用,对改观国外"四大家族"一统国内市场的现状具有积极意义.
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