Aiming at the poor openness of the FANUC industrial robot control system,an open-source control system for robots was designed based on KAREL language.Based on the CoppeliaSim remote API interface file,the offline simulation system on MATLAB and the CoppeliaSim platform was designed,and the communication between the robot controller and the upper computer based on the TCP/IP protocol was established through the development of the upper computer control software and the KAREL program,and the on-line control of the robot by the upper computer was realized.Combined with the digital twin technology,the virtual prototype and the physical prototype were synchronized.Finally,based on the FANUC M-20iA robot experiment platform,the feasibility of the robot open source control system is verified.
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