【正文】 北京航天航空大學， 2020 12． 大熊 ， 機器人控制 ， 科學出版社 13． 麥克普瑞科德 ， 機器人控制器與程序設計 ， 科學出版社宗光華 ， 2020 附錄 A：英文資料 An Architecture and Communication Protocol for Interaction of Industrial Robots and Vision Systems Abstract In this document an architecture and munication protocol stack for interaction of industrial robots and vision systems is introduced. With examples of a weld seam inspection and a motor partment inspection realtime munication via Ether, TCP/IP and XML is examined. An XML mand set for type independent robot control is presented. 1. Introduction Communication between a robot system and a vision system is a mon task. We find examples where a robot moves a camera for examination of an object or for determining the position of an object. Sometimes the camera is stationary. In any case robot and vision system have to be coordinated and have to exchange information. The munication interfaces of robots and vision systems are mostly proprietary. To build up a system consisting of a robot and vision system, software has to be adapted to the particular product. For cameras there exist standardized interfaces (. FireWire) but not for control of plete vision systems with analysis software. For robot programming there exist some norms, but the vendors usually do not provide an application level mand set for the robot, which is following a norm. Robot and vision systems with standardized interfaces for every layer (physical, work, application) are desirable. In this way ponents can be bined as in a building blocks system. Within the scope of the ARIKT1 project a reference architecture for robot based visual inspection systems and the definition of a standard munication interface for industrial robots and vision systems is developed. A further goal of the ARIKT project, the partially automation of the determination of sensor positions and choice of image processing algorithms, will not be discussed here. In this paper an architecture and protocol stack for interaction of industrial robots and vision systems is discussed. 2. State of the Art The mercially available robot systems are provided with proprietary programming languages which are inpatible to each other. Though there exists a norm defining ?Industrial Robot Language? [1], the support of this norm is not very mon due to its plixity. It describes not only the definition of robot movements but a ?plete? programming language. One example of a powerful robot programming language for different robot types is the mercial product RobotScript [2]. It extends VisualBasic by robotspecific mands. The use of this product is limited to Windows systems and is bound to the employment of the “Universal Robot Controller”. The ARIKT interface definition however is platform independent. The robot control part of the ARIKT specification is rather a lean trajectory definition language with synchronization mechanisms than a ?plete? programming language. RoboML [3] and XRCL [4] are examples of an XMLbased robot language. RoboML is embedded in an agentbased architecture for robot control over the inter. In contrast to the ARIKT interface it also includes direct control of hardware ponents (. wheel, motor, controller). XRCL is a mixture of XML and C++ with Fuzzy elements. It?s designed for implementing a robot control system, not for controlling a robot remotely. Looking for standards concerning vision systems is even more unfruitful: On applications level there is no mon s?？茖W出版社 ， 2020 10．宋偉剛， 機器人機械系統(tǒng)原理理論，方法和算法。組態(tài)王江蘇培訓中心， 2020 年 8． RBT6T/S01 桌面型串聯(lián)關節(jié)式機器人實驗指導用書。 我也要感謝我的父母和朋 友，他們在我的學業(yè)中給了我莫大的鼓勵、關愛和支持。在此我要向我的導師致以最衷心的感謝和深深的敬意。導師的嚴謹治學態(tài)度、淵博的知識、無私的奉獻精神使我深受的啟迪。 總之，機器人的研究課題目前 非常的活躍，由于它是一門多學科交叉的科學，所以還有許多問題值得探討。還有就是對速度和加速度的 規(guī)劃，也是研究的方向之一。 展望 機器人軌跡規(guī)劃的研究，在本次設計中，由于時間的關系，沒有對軌跡規(guī)劃做出研究。 從熟悉 組態(tài)軟件的 開發(fā)環(huán)境開始，到了解資源和資源編輯器、對話框、Windows 標準控件，最后自己動手作出了機器人的主界面，關節(jié)運動界面，關節(jié)示教界面以及運 動學分析的界面。 桌面串聯(lián)機器人運動學計算處理。開始學習機器人學的時候，被它的頻繁坐標變換和一些機器人桿件的幾何參數(shù)及關節(jié)變量弄的暈頭轉向，更不用說是運動學的知識了。 第五章 結論和展望 設計總結 在老師的指導下，完成這篇論文。 本章重點介紹串聯(lián)機器人軟件方面的設計。 \\本站點 \PY=86*(\\本站點 \s1*\\本站點 \C2*\\本站點 \C3\\本站點 \s1*\\本站點 \s2* \\本站點 \s3)*\\本站點 \C4*\\本站點 \s5+86*\\本站點 \C1*\\本站 點 \s4*\\本站點 \s5+ (\\本站點 \s1*\\本站點 \C2*\\本站點 \s3\\本站點 \s1*\\本站點 \s2*\\本站點 \C3)* (83+86*\\本站點 \C5)90*\\本站點 \s1*\\本站點 \C2*\\本站點 \C3+90*\\本站點 \s1* \\本站點 \s2*\\本站點 \s390*\\本站點 \s1。 \\本站點 \AZ=(\\本站點 \s2*\\本站點 \C3\\本站點 \C2*\\本站點 \s3) *\\本站點 \C4*\\本站點 \s5+(\\本站點 \s2*\\本站點 \s3\\本站點 \C2 *\\本站點 \C3)*\\本站點 \C5。 \\本站點 \AX=(\\本站點 \C1*\\本站點 \C2*\\本站點 \C3\\本站點 \C1*\\本站點 \s2* \\本站點 \s3)*\\本站點 \C4*\\本站點 \s5\\本站點 \s1*\\本站點 \s4*\\本站點 \s5+ (\\本站點 \C1*\\本站點 \C2*\\本站點 \s3\\本站點 \s1*\\本站點 \s2*\\本站點 \C3) *\\本站點 \C5。 \\本站點 \OZ=(\\本站點 \s2*\\本站點 \C3\\本站點 \C2*\\本站點 \s3)*(\\本站點 \C4* \\本站點 \C5*\\本站點 \s6\\本站點 \s4*\\本站點 \C6)(\\本站點 \s2*\\本站點 \s3 \\本站點 \C2*\\本站點 \C3)*\\本站點 \C5。 \\本站點 \OX=(\\本站點 \C1*\\本站點 \C2*\\本站點 \C3\\本站點 \C1*\\本站點 \s2 *\\本站點 \s3)*(\\本站點 \C4*\\本站點 \C5*\\本站點 \s6\\本站點 \s4*\\本站點 \C6)+ \\本站點 \s1*(\\本站點 \s4*\\本站點 \C5*\\本站點 \s6+\\本站點 \C4*\\本站點 \C6) (\\本站點 \C1*\\本站點 \C2*\\本站點 \s3\\本站點 \C1*\\本站點 \s2*\\本站點 \s3) *\\本站點 \s5*\\本站點 \s6。 \\本站點 \NY=(\\本站點 \s1*\\本站點 \C2*\\本站點 \s3\\本站點 \s1*\\本站點 \s2* \\本站點 \s3)*(\\本站點 \C4*\\本站點 \C5*\\本站點 \C6\\本站點 \s4*\\本站點 \s6) \\本站點 \C1*(\\本站點 \s4*\\本站點 \C5*\\本站點 \C6+\\本站點 \C4*\\本站點 \s6) +(\\本站點 \s1*\\本站點 \C2*\\本站點 \s3\\本站點 \s1*\\本站點 \s2*\\本站點 \C3) *\\本站點 \s5*\\本站點 \C6。 \\本站點 \s6=Sin(\\本站點 \θ 6)。 \\本站點 \s4=Sin(\\本站點 \θ 4)。 \\本站點 \s2=Sin(\\本站點 \θ 2)。 \\本站點 \C6=Cos(\\本站點 \θ 6)。 \\本站點 \C4=Cos(\\本站點 \θ 4)。 \\本站點 \C2=Cos(\\本站點 \θ 2)。 由于采用 VC 編程，在界面設置過程中，其主要程序如下，主要是針對控件“正向運動 ”來進行編程。 圖 46 正運動學分析界面 機器人正運動學分析 界面如圖 47 所示，各控件功能為 根據(jù)機器人坐標系的建立中得出的 A 矩陣，相乘后得到 T 矩陣，根據(jù)一一對應的關系，寫出機器人正解的運算公式；