The six axis industrial robot embedded research and development platform is composed of light load 3kg six axis industrial robot, visual inspection system, safety light screen unit, human-computer interaction interface, teaching control unit, Gobang and chessboard unit, calligraphy and writing plate, etc, The platform is used to realize man-machine game.

The working process of the platform is as follows: the visual inspection device first collects the black and white chess points on the chessboard, and then signals the robot (waiting or playing chess) after the algorithm judgment. After playing chess, the controller calculates the position of the robot to play chess through the black-and-white points obtained by vision and the Gobang algorithm, and performs the chess action. The controller will judge the victory or failure before each chess play, and the system adopts the model Block structure, if there is a winner or loser, the robot stops moving and displays the winning and losing results on the human-computer interface; at the same time, it can also change the end gripper of the six axis robot to write calligraphy, and the operator writes the characters on the real-time display screen, and the robot execution program writes the corresponding characters on the panel according to the trajectory of the characters.

   this platform applies six axis industrial robot to relevant mechanical structures, and combines with the robot bottom development system, it can simulate the control mode of robot system, enable students to carry out systematic learning of robot motion control, and enable students to have a deeper understanding of industrial robot control system algorithm.

1. It has the functions of position and posture, velocity, acceleration and trajectory planning and control;

2. Convenient human-computer interaction function;

3. It can provide the source code of forward and inverse solution of robot position and trajectory planning;

4. According to the need of mechanical and Control Association, the program can be rotated to the mechanical origin to mark zero;

5. Inching can be carried out in the control program according to the configuration of corresponding machine body and kinematic algorithm of rod length;

6. Open robot program source code for students to learn and write redevelopment.