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ABB机器人控制基础学习

news 2025/10/12 9:19:37

ABB机器人控制系统

1. IRC5控制器基础

ABB机器人主要使用IRC5控制器，其核心架构包括：

控制系统层次：

主计算机单元：运行RobotWare操作系统，处理RAPID程序
轴计算机单元：实时控制各轴电机
I/O系统：处理数字/模拟信号
通信接口：支持多种工业协议

RAPID编程语言：
ABB专有的编程语言，类似Pascal语法，用于机器人运动控制和逻辑控制。

ROS与ABB机器人集成

2. ROS-Industrial ABB驱动架构

ROS通过abb_driver包实现与ABB机器人的通信，主要组件包括：

通信架构：

ROS Master <--> abb_driver节点 <--> Socket通信 <--> ABB控制器(RAPID服务端)

关键ROS包：

abb_driver: 核心驱动包，处理轨迹执行
abb_robot_msgs: 消息定义
abb_irb*_support: 特定机器人模型支持包

3. RAPID服务端程序

在ABB控制器端需要运行RAPID服务程序，处理来自ROS的指令：

MODULE ROS_StateServer! 定义通信端口CONST num server_port := 11002;! 主循环PROC main()VAR socketdev server_socket;VAR socketdev client_socket;! 创建服务器socketSocketCreate server_socket;SocketBind server_socket, "192.168.125.1", server_port;SocketListen server_socket;WHILE TRUE DO! 等待ROS连接SocketAccept server_socket, client_socket;! 处理轨迹数据HandleTrajectory client_socket;SocketClose client_socket;ENDWHILEENDPROC
ENDMODULE

Python控制实现

4. 使用Python进行机器人控制

方式1: 通过ROS Python API

#!/usr/bin/env python3
import rospy
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
from sensor_msgs.msg import JointState
import numpy as npclass ABBController:def __init__(self):rospy.init_node('abb_controller_node')# 发布轨迹命令self.traj_pub = rospy.Publisher('/joint_trajectory_controller/command',JointTrajectory,queue_size=10)# 订阅关节状态self.joint_sub = rospy.Subscriber('/joint_states',JointState,self.joint_callback)self.current_joints = Nonedef joint_callback(self, msg):"""更新当前关节位置"""self.current_joints = list(msg.position)def move_to_joint_position(self, target_joints, duration=3.0):"""移动到目标关节位置"""traj = JointTrajectory()traj.header.stamp = rospy.Time.now()traj.joint_names = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']# 创建轨迹点point = JointTrajectoryPoint()point.positions = target_jointspoint.velocities = [0.0] * 6point.time_from_start = rospy.Duration(duration)traj.points.append(point)self.traj_pub.publish(traj)def execute_cartesian_path(self, waypoints):"""执行笛卡尔路径"""# 使用MoveIt进行笛卡尔规划import moveit_commanderrobot = moveit_commander.RobotCommander()group = moveit_commander.MoveGroupCommander("manipulator")# 计算笛卡尔路径(plan, fraction) = group.compute_cartesian_path(waypoints,0.01,  # eef步进0.0    # 跳跃阈值)# 执行路径group.execute(plan, wait=True)

方式2: 直接Socket通信

import socket
import struct
import timeclass ABBDirectController:def __init__(self, robot_ip='192.168.125.1', port=5000):self.robot_ip = robot_ipself.port = portself.sock = Nonedef connect(self):"""建立与ABB控制器的连接"""self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)self.sock.connect((self.robot_ip, self.port))def send_joint_command(self, joints):"""发送关节命令"""# 构建数据包msg_type = 1  # 关节运动命令data = struct.pack('!I', msg_type)  # 消息类型data += struct.pack('!6f', *joints)  # 6个关节角度# 发送数据self.sock.send(data)def get_robot_state(self):"""获取机器人状态"""# 发送状态请求msg_type = 10  # 状态请求self.sock.send(struct.pack('!I', msg_type))# 接收响应data = self.sock.recv(1024)# 解析状态数据joints = struct.unpack('!6f', data[:24])return joints

C#控制实现

5. 使用C#进行ABB机器人控制

ABB PC SDK实现

using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.RapidDomain;
using ABB.Robotics.Controllers.Discovery;
using System;
using System.Threading.Tasks;public class ABBRobotController
{private Controller controller;private Task rapidTask;public ABBRobotController(){// 扫描网络上的控制器NetworkScanner scanner = new NetworkScanner();scanner.Scan();if (scanner.Controllers.Count > 0){// 连接到第一个控制器controller = new Controller(scanner.Controllers[0]);controller.Logon(UserInfo.DefaultUser);// 获取RAPID任务rapidTask = controller.Rapid.GetTask("T_ROB1");}}public void ExecuteRapidProgram(string programName){try{// 加载程序using (Mastership master = Mastership.Request(controller.Rapid)){// 停止当前执行rapidTask.Stop(StopMode.Immediate);// 加载新程序rapidTask.LoadProgramFromFile(programName, RapidLoadMode.Replace);// 重置程序指针rapidTask.ResetProgramPointer();// 启动程序controller.Rapid.Start();}}catch (Exception ex){Console.WriteLine($"执行错误: {ex.Message}");}}public double[] GetJointPositions(){double[] joints = new double[6];// 读取关节位置RapidData jointData = rapidTask.GetRapidData("Module1", "joint_pos");if (jointData != null){RobJoint robJoint = (RobJoint)jointData.Value;joints[0] = robJoint.Rax_1;joints[1] = robJoint.Rax_2;joints[2] = robJoint.Rax_3;joints[3] = robJoint.Rax_4;joints[4] = robJoint.Rax_5;joints[5] = robJoint.Rax_6;}return joints;}public async Task MoveToPositionAsync(double[] targetJoints){// 创建运动命令string rapidCode = $@"MoveAbsJ [[{targetJoints[0]}, {targetJoints[1]}, {targetJoints[2]}, {targetJoints[3]}, {targetJoints[4]}, {targetJoints[5]}], [9E9,9E9,9E9,9E9,9E9,9E9]], v100, fine, tool0;";// 执行命令using (Mastership master = Mastership.Request(controller.Rapid)){rapidTask.ExecuteRapidFromString(rapidCode);}await Task.Delay(2000); // 等待运动完成}
}

工业以太网集成

6. EtherNet/IP和PROFINET实现

EtherNet/IP通信实现（C#）

using System.Net.Sockets;
using System.Threading;public class EtherNetIPInterface
{private TcpClient tcpClient;private NetworkStream stream;private Thread receiveThread;public void ConnectToABB(string ipAddress, int port = 44818){tcpClient = new TcpClient();tcpClient.Connect(ipAddress, port);stream = tcpClient.GetStream();// 建立EtherNet/IP会话byte[] registerSession = BuildRegisterSessionPacket();stream.Write(registerSession, 0, registerSession.Length);// 启动接收线程receiveThread = new Thread(ReceiveData);receiveThread.Start();}private byte[] BuildRegisterSessionPacket(){// EtherNet/IP注册会话包byte[] packet = new byte[28];// 命令代码 (Register Session = 0x0065)packet[0] = 0x65;packet[1] = 0x00;// 数据长度packet[2] = 0x04;packet[3] = 0x00;// 会话句柄（初始为0）// ... 其他字段return packet;}public void WritePLCTag(string tagName, object value){// 构建CIP写请求byte[] cipPacket = BuildCIPWritePacket(tagName, value);// 封装为EtherNet/IP数据包byte[] packet = EncapsulateEtherNetIP(cipPacket);stream.Write(packet, 0, packet.Length);}private void ReceiveData(){byte[] buffer = new byte[1024];while (tcpClient.Connected){int bytesRead = stream.Read(buffer, 0, buffer.Length);if (bytesRead > 0){ProcessReceivedData(buffer, bytesRead);}}}
}

PROFINET实现（Python）

import snap7
from snap7.util import *
import structclass ABBProfinet:def __init__(self, plc_ip='192.168.0.1'):self.client = snap7.client.Client()self.plc_ip = plc_ipdef connect(self):"""连接到PROFINET设备"""self.client.connect(self.plc_ip, 0, 1)def read_robot_status(self):"""读取机器人状态"""# 读取DB块db_number = 100  # 机器人状态DB块start = 0size = 50data = self.client.db_read(db_number, start, size)# 解析数据status = {'running': get_bool(data, 0, 0),'error': get_bool(data, 0, 1),'joints': struct.unpack('>6f', data[4:28]),'tcp_position': struct.unpack('>3f', data[28:40])}return statusdef send_motion_command(self, command_type, params):"""发送运动命令"""db_number = 101  # 命令DB块# 构建命令数据data = bytearray(64)struct.pack_into('>I', data, 0, command_type)struct.pack_into('>6f', data, 4, *params)# 写入PLCself.client.db_write(db_number, 0, data)

综合应用示例

7. 完整的多语言协作系统

这个示例展示了如何结合使用Python(ROS)、C#(控制)和工业以太网：

# coordinator.py - 系统协调器
import rospy
import socket
from threading import Threadclass SystemCoordinator:def __init__(self):self.csharp_interface = socket.socket(socket.AF_INET, socket.SOCK_STREAM)self.profinet = ABBProfinet('192.168.0.1')def coordinate_production(self):"""协调生产流程"""while True:# 1. 从PROFINET获取PLC状态plc_status = self.profinet.read_robot_status()# 2. 如果有新工件if plc_status['new_workpiece']:# 3. 通知C#应用准备视觉检测self.notify_csharp_app("PREPARE_VISION")# 4. 通过ROS移动机器人到检测位置self.move_robot_to_inspection()# 5. 执行检测和加工self.process_workpiece()