РАЗРАБОТКА ПРОГРАММНОГО ОБЕСПЕЧЕНИЯ ДЛЯ УПРАВЛЕНИЯ РОБОТОМ-МАНИПУЛЯТОРОМ НА БАЗЕ МИКРОКОНТРОЛЛЕРА STM32F407

Abstract

Abstract. Industrial robotic arms are widely used in manufacturing departments to perform various tasks. Most robot manufacturers provide offline and online robot programming software, but these are usually sold separately. Few robot manufacturers do not have dedicated software for programming their robots. Developing software to control robotic arms is a very challenging task as it requires experience in many areas such as: robotics, real-time programming, hardware integration, parallelism, etc. It is difficult to develop a common software platform that supports all the variety of areas of robotics research and robotic equipment. While a large number of robotic programming languages, libraries, and tools have been created, they are rarely reused. Many research groups develop their own software platform from scratch because existing platforms are too inflexible to modify and too difficult to understand. This article presents the development of a new software for controlling a robotic arm, which includes programming in the CUBE IDE program, microcontroller programming, programming in Ciros Programming and data processing. The advantages of the new software are shown, since the equipment used for its development is available to the research group of authors, which is characterized by ease of development and low cost.