| 摘 要: 为了解决工业机械臂示教器软件设计成本高、界面不友好等问题，采用基于ARM Cortex-M7内核的STM32H743为主控芯片，并运用实时操作系统FreeRTOS和emWin图形库设计了一种液晶显示的工业机械臂示教器软件。该示教器软件使用emWin图形库进行软件界面的设计与搭建，采用FreeRTOS操作系统来满足软件多任务的运行，并且能够实现多任务之间的通信与同步，再通过LwIP中UDP协议实现示教器与运动控制卡之间的通信，从而实现示教功能。实验结果表明，该示教器软件显示稳定，性能可靠，界面人机交互功能友好，具有实用价值。 |
| 关键词: FreeRTOS；emWin图形库；移植；LwIP；示教器软件 |
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中图分类号: TP23
文献标识码: A
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| 基金项目: 浙江省科技厅重点研发计划资助项目(2020C01SA902172). |
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| Design of Software for Industrial Manipulator Teaching Pendant based on FreeRTOS and emWin Graphics Libra |
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YANG Liangliang, DOU Yanjie, ZHANG Hui
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(Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China )
yangliangliang@zstu.edu.cn; 2410561246@qq.com; 1624356219@qq.com
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| Abstract: Aiming at the high software design cost and unfriendly interface of the teaching pendant for industrial manipulator, this paper proposes to use a STM32H743 based on the ARM Cortex-M7 core as the main control chip, and design teaching pendant software of LCD display for industrial manipulator by using a real-time operating system FreeRTOS and emWin graphics library. The emWin graphics library in the teaching pendant software is used to design and build the software interface. The FreeRTOS operating system is used for the multi-task operation of the software, and multi-task communication and synchronization can be achieved. Then the UDP protocol in LwIP is used to realize communication between teaching pendant software and a motion control card, so as to implement the teaching function. Finally, experimental results show that the proposed software has stable display, reliable performance, friendly man-machine interaction and practical value. |
| Keywords: FreeRTOS; emWin graphics library; transplantation; LwIP; teaching pendant software |
