title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐ¼Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°Ð¼Ð¸ Kawasaki Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð¿ÑÐ¾ÑÐ¾ÐºÐ¾Ð»Ð¾Ð² Telnet Ð¸ TCP/IP
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of a control system for kawasaki industrial robots using Telnet and TCP/IP protocols
Creators: name: ÐÑÐµÑÐ¾Ð², ÐÐ»ÐµÐºÑÐµÐ¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐ¹ ÑÐ¾Ð±Ð¾Ñ
Kawasaki
API
Ð±Ð¸Ð±Ð»Ð¸Ð¾ÑÐµÐºÐ°
industrial robot
library

description: ÐÐ±ÑÐµÐºÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÑÑÑÑ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½ÑÐµ ÑÑÐµÐ´ÑÑÐ²Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐ¼Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°Ð¼Ð¸ Kawasaki. Ð¦ÐµÐ»ÑÑ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð±Ð¸Ð±Ð»Ð¸Ð¾ÑÐµÐºÐ¸, Ð¿ÑÐµÐ´Ð¾ÑÑÐ°Ð²Ð»ÑÑÑÐµÐ¹ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÑÐ¸ÐºÐ°Ð¼ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÑ ÑÐ¸ÑÑÐµÐ¼ ÑÐ´Ð¾Ð±Ð½ÑÐ¹ Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½Ñ Ð´Ð»Ñ ÑÐ´Ð°Ð»ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð´Ð¾ÑÑÑÐ¿Ð° Ðº ÑÐ¾Ð±Ð¾ÑÐ°Ð¼ Kawasaki, Ð²ÐºÐ»ÑÑÐ°Ñ ÐºÐ°Ðº Ð²Ð·Ð°Ð¸Ð¼Ð¾Ð´ÐµÐ¹ÑÑÐ²Ð¸Ðµ Ñ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ Ð¿Ð¾ÑÑÐµÐ´ÑÑÐ²Ð¾Ð¼ ÑÑÐ°Ð½Ð´Ð°ÑÑÐ½Ñx Ð¼Ð¾Ð½Ð¸ÑÐ¾ÑÐ½ÑÑ ÑÑÐ½ÐºÑÐ¸Ð¹, ÑÐ°Ðº Ð¸ Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°Ñ Ð¿ÐµÑÐµÐ´Ð°ÑÑ Ð´Ð°Ð½Ð½ÑÑ Ð² ÑÐµÐ°Ð»ÑÐ½Ð¾Ð¼ Ð²ÑÐµÐ¼ÐµÐ½Ð¸ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð²ÑÐ¿Ð¾Ð¼Ð¾Ð³Ð°ÑÐµÐ»ÑÐ½Ð¾Ð³Ð¾ ÐºÐ°Ð½Ð°Ð»Ð° ÑÐ²ÑÐ·Ð¸ TCP/IP. Ð ÑÐ°Ð±Ð¾ÑÐµ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð¼ÐµÑÐ¾Ð´Ñ Ð¼Ð¾Ð½Ð¸ÑÐ¾ÑÐ¸Ð½Ð³Ð° Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐ¼Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°Ð¼Ð¸, Ð¿ÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ Ð¾ÑÐ¾Ð±ÐµÐ½Ð½Ð¾ÑÑÐ¸ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² Kawasaki Ð¸ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ ÑÐµÑÐµÐ½Ð¸Ñ Ð¿Ð¾ Ð¸Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ. ÐÐ¾ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼ Ð±ÑÐ»Ð¸ ÑÑÐ¾ÑÐ¼ÑÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ñ ÑÑÐµÐ±Ð¾Ð²Ð°Ð½Ð¸Ñ Ðº ÑÐ¾Ð±ÑÑÐ²ÐµÐ½Ð½Ð¾Ð¹ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ðµ. ÐÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ð° Ð°ÑÑÐ¸ÑÐµÐºÑÑÑÐ°, Ð¾Ð±ÑÐµÐ´Ð¸Ð½ÑÑÑÐ°Ñ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð»ÑÐ½Ð¾ÑÑÑ Ð¼Ð¾Ð½Ð¸ÑÐ¾ÑÐ½ÑÑ ÐºÐ¾Ð¼Ð°Ð½Ð´, Ð¿ÐµÑÐµÐ´Ð°Ð²Ð°ÐµÐ¼ÑÐ¹ ÑÐµÑÐµÐ· Telnet Ð¿ÑÐ¾ÑÐ¾ÐºÐ¾Ð» ÑÐ¾ ÑÐºÐ¾ÑÐ¾ÑÑÑÑ Ð¿ÐµÑÐµÐ´Ð°ÑÐ¸ Ð´Ð°Ð½Ð½ÑÑ Ð¿Ð¾ TCP/IP Ð² ÑÐ¾ÑÑÐ°Ð²Ðµ ÑÐ¾Ð±ÑÑÐ²ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¿ÑÐ¾ÑÐ¾ÐºÐ¾Ð»Ð°. ÐÐ»Ñ Ð¿ÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¿Ð¾Ð´ÑÐ¾Ð´Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð°ÑÑÐ¸ÑÐµÐºÑÑÑÐ° ÐºÐ»Ð°ÑÑÐ¾Ð² Ð²ÐµÑÑÐ½ÐµÐ³Ð¾ ÑÑÐ¾Ð²Ð½Ñ, ÑÐ¿ÑÐ¾ÑÐ°ÑÑÐ°Ñ Ð¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°ÑÐµÐ»Ñ Ð²Ð·Ð°Ð¸Ð¼Ð¾Ð´ÐµÐ¹ÑÑÐ²Ð¸Ðµ Ñ Ð±Ð¸Ð±Ð»Ð¸Ð¾ÑÐµÐºÐ¾Ð¹. ÐÑÐ¾Ð¸Ð·Ð²ÐµÐ´ÐµÐ½Ð¾ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð±Ð¸Ð±Ð»Ð¸Ð¾ÑÐµÐºÐ¸, Ð²ÐºÐ»ÑÑÐ°Ñ ÑÐµÑÑÑ Ð² ÑÐµÐ°Ð»ÑÐ½ÑÑ Ð¿ÑÐ¾ÐµÐºÑÐ°Ñ. ÐÐ¾Ð´ÑÐµÑÐºÐ½ÑÑÑ Ð¿ÑÐµÐ¸Ð¼ÑÑÐµÑÑÐ²Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð¾Ð¹ Ð±Ð¸Ð±Ð»Ð¸Ð¾ÑÐµÐºÐ¸ Ð¸ Ð¾ÑÐ¼ÐµÑÐµÐ½Ñ Ð¿ÑÑÐ¸ Ð´Ð»Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ³Ð¾ ÑÐ¾Ð²ÐµÑÑÐµÐ½ÑÑÐ²Ð¾Ð²Ð°Ð½Ð¸Ñ.
description: The object of research of this final qualifying work is the software development kit for Kawasaki industrial robots. The aim of the work is to create a library that provides developers of robotic systems with a convenient tool for remote access to Kawasaki robots, including both interaction with the system through standard monitor functions and providing real-time data transmission using an auxiliary TCP/IP communication channel. The paper considers the existing methods of monitoring and controlling industrial robots, analyzes the features of the Kawasaki robot system and existing solutions for their management. Based on the results, the requirements for their own program were formulated. An architecture is proposed that combines the functionality of monitor commands transmitted via Telnet protocol with the data transfer rate over TCP/IP as part of its own protocol. For the proposed approach, a top-level class architecture has been developed that simplifies user interaction with the library. The library has been tested, including tests in real projects. The advantages of the developed library are emphasized and ways for further improvement are noted.