针对当前工业机器人市场上示教器不易二次开发、功能单一等缺陷，基于 Linux实时操作系统，硬件核心选用较好性能的 ARM CortexA8处理器，借助嵌入式工具 Qt软件，通过TCP/IP协议与控制器进行数据交换，研发出一款新型〖JP2〗通用示教器。结合实验室开发的控制器，以启帆SRD6540小六轴机器人为研究对象，对开发出的示教器各项功能进行大量测试，结果表明：所设计的示教器不仅能实现对机器人的控制，而且人机交互界面友好、通用性强，便于后期二次开发。
Aiming at the disadvantages of the teach pandent in current industrial robot market, such as difficult secondary development, single function and low maintainability, based on the Linux realtime operating system and TCP/IP protocol, the ARM CortexA8 processor with better performance was selected, a new universal teach pandent was developed with the help of embedded tool Qt software. Finally, combined with the controller developed in the laboratory, taking the SRD6540 small sixaxis robot as the research object, a large number of tests were carried out on the functions of the developed teach pandent. The results show that the designed teach pandent not only realizes the control to the robot, but also have friendly human machine interface and strong versatility. It is convenient for later secondary development.
SHEN Shuli, HUANG Xin, ZHU Runze, CHEN Min. Development of Universal Industrial Robot Teach Pandent Based on Linux System[J]. Machine Tool & Hydraulics,2021,49(3):63-68