基于Socket通信的工业机器人监控系统研究

针对Epson-G6和Staubli-TX90工业机器人，研究一种基于Socket通信的工业机器人监控系统。系统分为本地监控端和Web远程监控端。基于TCP协议和Socket通信技术，编写了机器人控制器服务端程序和MFC类库开发的客户端程序，客户端分为通讯功能模块，末端坐标轨迹存储模块和基于OpenGL类库的运动姿态展现模块。在此基础上, 基于J2EE架构和WebSocket通信协议编写了Web远程监控端程序，分为用户管理模块和实时监控模块。系统实现了机器人末端坐标轨迹的采集并远程存储至PostgreSQL数据库，同时通过逆运动学计算展现了机器人三维运动姿态，并在Web页面以动态曲线方式监控机器人的末端坐标轨迹。

The research of the industrial robot monitoring system based on Socket communication

Aiming at Epson-G6 and Staubli-TX90 industrial robots, a kind of industrial robot monitoring system based on Socket communication is studied. It includes a local monitoring terminal and a web remote monitoring terminal. Based on TCP protocol and Socket communication, the server-side in robot controllers and the client using MFC Framework are respectively programmed. The client contains the communication module, the end coordinate trajectories memory module and the motion posture presentation module based on OpenGL class library. On this basis, the web remote monitoring terminal is designed with J2EE architecture and WebSocket protocol, it is made up of a user management module and a real-time monitoring module. The system realizes the acquisition of the end coordinate trajectories of the robots, the storage of the trajectories to a PostgreSQL database and the monitoring of the trajectories by dynamic curve on web pages. At the same time, the 3D motion attitudes of two robots are also presented by the inverse kinematics calculation.