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Research background:The field of robotics has its origins in science fictions. The word robot comes from the Czech word "robota" means forced labor in 1920. It took another 40 years before the modern technology of industrial robotics began. Today, robots are highly automated mechanical manipulators controlled by computers. A robot may appear like a human being or an animal or a simple electro-mechanical device. A robot may act under the direct control of a human (e.g. ABB robot) or autonomously under the control of a programmed computer. Robots may be used to perform tasks that are too dangerous or difficult for humans to implement directly (e.g. nuclear waste cleanup) or may be used to automate repetitive tasks that can be performed more cheaply by a robot than by the employment of a human (e.g. automobile production) or may be used to automate mindless repetitive tasks that should be performed with more precision by a robot than by a human (material handling, material transfer applications, machine loading and unloading, processing operations, assembly and inspection.Introduction:As China's economic and social structure changes, the wages of the labor force are also rising, and the advantage of the past demographic dividend is also decreasing. The transformation of manufacturing technology to intelligence, flexibility and individuality urgently calls for the construction of a new manufacturing system. Industrial robots are the core equipment of manufacturing industry in the future. Therefore, accelerating the development of industrial robotics industry is conducive to recapturing the advantages of China's manufacturing industry. In addition, China has also put forward the development strategy of "Made in China2025", which also brings the robot industry into the level of national development strategy.Research status and development trend at home and abroad:With the rise of labor costs and the improvement of product quality requirements in manufacturing industry, the deep integration of industrialization and in formalization is inevitable, and the demand for industrial robots is also growing. However, at present, although domestic institutions and companies attach great importance to and make great progress in the research of industrial robots, such as Xin song, Eston, etc.,, although they have their own advantages in robot controller and user interface, there is no big gap compared with foreign companies, but there is a big gap in the main core technology and accessories of robots, such as reducer, high-performance servo. Electrical machinery, although domestic companies do, but its accuracy and durability indicators are still catching up with several foreign companies. Especially ABB in Switzerland, KUKA in Germany, Kawasaki Heavy Industry in Japan, Ankawa Electric Machinery and Fanuc. The research on trajectory control of industrial robots varies from company to company in different ways. Most of them are controlled by their special programming language. The programming language varies from company to company, but it is similar in general. In addition, there are other control modes such as MCU, PLC r motion control card. The main control methods studied in recent years are as follows:1. Industrial Robot Control System Based on Bus ModeThis control method can make the hardware control system of industrial robots more concise, thus effectively reduce the cost of hardware control of industrial robots, and because the bus uses digital signals, transmission has better stability. At present, there is a kind of real-time trajectory control for industrial robots by using Ether CAT bus on X86 platform. Essentially, it uses the extensibility of the Windows kernel to create a bus-based intelligent manufacturing platform, so as to build a real-time industrial robot control system. In addition, on the premise of drawing the advantages of existing schemes, some studies have proposed the industrial robot control mode based on this kind of bus. However, this kind of control card is based on personal computer as the core hardware, supplemented by motion control card, and can support bus transmission. In addition, some control hardware such as servo motor and I/O communication board are added. With Linux as the main control language, industrial robots can be controlled by adding control algorithms and writing programs. This control scheme can customize user interface. Human-computer interaction is very friendly. In practice, the control technology has broad application prospects. The control method basically meets the field control requirements of industrial robots.2. Industrial Robot Asynchronous Serial Communication Relay Control System Based on Single Chip Microcomputer.The flexibility and ease of use of MCU are well known, besides, its cost is low. Because most industrial robots integrate a common serial communication protocol on their controllers, users can connect relevant controllers and program through the serial port. Of course, for ABB industrial robot, users can control the robot through its special control system and language, but because of the specialty and specialty of its robot programming language, the control of its serial port is not flexible, so it cannot read data in time and also non conducive to the real-time and reliability of control. This situation can be solved by building a communication relay system connected with industrial robot controller serial port with single chip computer such as STM32as the hardware core. It processes the serial data of the robot through the interrupt signal of the single chip computer to gain the control of real time. The communication relay system with STM32 MCU as the core can trigger the interrupt of the controller by switching on the signal and read the serial data through the interrupt processing function of the MCU, so as to achieve the effect of timely response of the controller and better realize the relevant control requirements.3. Industrial Robot Control Mode Based on PLCThis control scheme is very common in automated production, especially in non-standard automated production line. This kind of control method is mainly based on programmable controller as the hardware core. For example, Siemens PLC and PMC are used to develop an industrial robot for manufacturing, handling, spraying and other industries. This control method can directly control industrial robots by connecting the PLC host computer with the robot controller on the touch screen, that is, the host computer interface. Effective remote control and communication can be carried out. This kind of control method can also achieve the goal of precise or even remote control of robots through dedicated buses, thus effectively improving the level of automation and intelligence in the production process.Summary The future development of industrial robots will gradually use a variety of intelligent sensors to achieve better human-computer interaction. 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