Generation method and device of mechanical arm control system

Abstract

The invention belongs to the technical field of mechanical arm control, and discloses a mechanical arm control system generation method and device.The mechanical arm control system generation method comprises the steps that a mechanical arm model is established in three-dimensional modeling software, and mechanical arm model data are exported; creating a mechanical arm project, and generating a corresponding configuration file; sending the configuration file to a cloud server, and adjusting hardware configuration through the cloud server; and the cloud server selects an adaptive compiler according to hardware configuration, and generates a corresponding application program and upper computer control software through the compiler. And the application program and the upper computer control software are simulated and verified, the user downloads the application program to the corresponding hardware after the simulation verification is passed, and the mechanical arm control system is generated. According to the method, mechanical arm control systems of various models can be rapidly generated, seamless connection from simulation to actual control is achieved, the development process is greatly simplified, and powerful support is provided for robot research, development and application.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm control technology, and particularly relates to a method and apparatus for generating a robotic arm control system. Background Technology

[0002] Currently, robotic arm simulation environments rely on hardware and cannot quickly generate robotic arm control systems. The development and testing of robotic arm control systems are complex and time-consuming: the development of software for different types of robotic arms is complex and involves a lot of repetitive work, software verification is inconvenient, and testing is time-consuming. Simulation environment programming cannot be directly ported to hardware: existing simulation development environments that do not rely on hardware, such as ROS, can achieve robotic arm application programming, but because their main focus is on the application layer, they cannot generate the underlying control system of the robotic arm and cannot directly drive hardware movement. When ported to a real robotic arm, there will be a lot of adaptation work. General development solutions (such as ROS or MATLAB's robot toolboxes) provide powerful functions and flexibility, enabling developers to quickly design and implement complex control algorithms. However, these general solutions are usually not optimized for specific hardware, which may lead to problems such as (i) over-configuration of resources, (ii) real-time and control accuracy requirements, (iii) compatibility issues of general solutions, and (iv) software-hardware incompatibility, thereby increasing hardware costs. The aforementioned drawbacks include: (i) Over-configuration of resources: General-purpose software solutions typically assume that the system has sufficient computing resources. Therefore, the developed algorithms and control systems may require high-performance processors, large amounts of memory, and fast communication interfaces. This leads developers to choose high-performance and expensive hardware to ensure smooth system operation. However, in reality, some tasks do not require such high hardware specifications, but due to the lack of optimization in general-purpose solutions, hardware resources are over-configured. (ii) Real-time and control precision requirements: General-purpose development solutions may not consider the specific real-time and control precision requirements of the robotic arm. If the control algorithm is not optimized for the real-time performance of specific hardware, it may lead to system response delays, affecting control precision. In this case, developers may choose higher-performance hardware to compensate for the shortcomings of the software, increasing hardware costs. (iii) Adaptability issues of general-purpose solutions: General-purpose development solutions are usually designed for a wide range of application scenarios, rather than being tailored to specific robotic arms or tasks. This means that developers may need additional hardware or interface modules to adapt to specific robotic arm architectures or sensor configurations. To ensure compatibility, developers may choose more compatible hardware, but this often increases hardware complexity and cost. Disadvantage (4) Software-hardware mismatch: Since general-purpose solutions are not optimized for specific hardware, there may be a performance mismatch between software and hardware. For example, a complex path planning algorithm may perform well on a high-performance processor, but may cause a performance bottleneck on lower-cost hardware. To avoid these bottlenecks, developers may have to choose higher-performance hardware instead of optimizing the algorithm, which further increases hardware costs. Summary of the Invention

[0003] (I) Purpose of the Invention

[0004] The purpose of this invention is to provide a method and apparatus for generating a robotic arm control system. This method can quickly generate various types of robotic arm control systems, avoiding a large amount of complex and repetitive work in the development and testing of robotic arm control systems. It achieves seamless integration from simulation to actual control, greatly simplifies the development process, and provides strong support for robot research and development and application.

[0005] (II) Technical Solution

[0006] To address the above problems, a first aspect of the present invention provides a method for generating a robotic arm control system, comprising:

[0007] Create a robotic arm model in 3D modeling software and export the robotic arm model data;

[0008] Create a robotic arm project, import the robotic arm model data into the robotic arm project, and generate the corresponding configuration file;

[0009] The configuration file is sent to the cloud server, which then parses the configuration file and adjusts the hardware configuration and allocates the corresponding resources.

[0010] The cloud server selects a suitable compiler based on the hardware configuration, and generates the corresponding application and host computer control software through the compiler.

[0011] The application program and host computer control software are simulated and verified. After the simulation verification is successful, the user downloads the application program to the corresponding hardware to generate the robotic arm control system.

[0012] Furthermore, the method also includes:

[0013] The robotic arm control system was tested physically, and its operating status was monitored by the host computer control software. The robotic arm control system was then debugged and optimized based on its operating status.

[0014] Furthermore, the simulation includes: simulation of the robotic arm's form, simulation of the actuators, and simulation of bus communication.

[0015] Furthermore, simulation-related auxiliary services include: simulation for programming management, deployment management, and real-time simulation management.

[0016] Furthermore, the robotic arm model data includes: URDF model, dynamic parameters, kinematic parameters, and appearance model.

[0017] Furthermore, driver simulation includes simulation of driver effects, which is achieved by transforming the driver program code to provide a hardware-independent driver simulation environment.

[0018] Furthermore, the simulation of the driver also includes the simulation of the driver behavior, which includes the simulation of the motor function, control strategy, feedback loop, power consumption and temperature control functions.

[0019] Furthermore, the programming management provides graphical programming and high-level programming language interfaces.

[0020] A second aspect of the present invention provides an apparatus for generating a robotic arm control system, comprising:

[0021] The robotic arm modeling module is used to create robotic arm models in 3D modeling software and export robotic arm model data.

[0022] The project creation module is used to create robotic arm projects, import robotic arm model data into the robotic arm project, and generate the corresponding configuration files;

[0023] The hardware configuration module is used to send the configuration file to the cloud server. After the cloud server parses the configuration file, it adjusts the hardware configuration and allocates the corresponding resources.

[0024] The compilation module is used by the cloud server to select a suitable compiler based on the hardware configuration, and then generate the corresponding application and host computer control software through the compiler.

[0025] The simulation verification module is used to simulate and verify the application and host computer control software. After the simulation verification is successful, the user downloads the application to the hardware to generate the robotic arm control system.

[0026] Furthermore, the device also includes:

[0027] The test optimization module is used to perform physical testing on the robotic arm control system and monitor the operating status of the robotic arm control system through the host computer control software; then, the robotic arm control system is debugged and optimized based on the operating status.

[0028] (III) Beneficial Effects

[0029] The above-mentioned technical solution of the present invention has the following beneficial technical effects: The present invention provides a method and apparatus for generating a robotic arm control system. This method can quickly generate various types of robotic arm control systems. Specifically, it includes: first, establishing a robotic arm model in 3D modeling software; then, creating a robotic arm project based on the exported robotic arm model data; generating a corresponding configuration file; and generating the corresponding application program and host computer control software by parsing the configuration file, adjusting the hardware configuration, and selecting a compatible compiler through a cloud server. Therefore, this method starts directly from the model design stage, automatically generating algorithms and control software after exporting design parameters, greatly improving R&D efficiency. By adopting algorithm optimization that matches the hardware computing unit, the calculation speed can be significantly improved. This method eliminates the cumbersome steps between model design, algorithm development, and software development, realizing a rapid transformation from design to software generation. Finally, the application program and host computer control software are simulated and verified. After the simulation verification is passed, the user downloads the application program to the corresponding hardware to generate the robotic arm control system. This generated control system not only supports simulation but can also directly drive the physical hardware interface, achieving seamless connection from simulation to actual control, greatly simplifying the development process. Attached Figure Description

[0030] Figure 1 This is a flowchart of a method for generating a robotic arm control system according to the present invention;

[0031] Figure 2 This is a schematic diagram of a generating device for a robotic arm control system according to the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0033] like Figure 1 As shown, the present invention provides a method for generating a robotic arm control system, comprising:

[0034] S1. Create a robotic arm model in 3D modeling software and export the robotic arm model data. 3D modeling software, such as Solidworks, is used to design the robotic arm and perform kinematic and dynamic simulations to verify the feasibility of the robotic arm design. The exported robotic arm model data includes: URDF (Unified Robot Description Format) model, dynamic parameters, kinematic parameters, and appearance model data files, which will be used in the subsequent system generation process.

[0035] S2. Create a robotic arm project, import the robotic arm model data into the project, and generate the corresponding configuration file. This step can be done using a web interface or the VSCode plugin. The specific steps are illustrated below using the VSCode plugin as an example:

[0036] S21, Start the development environment: Launch the dedicated plugin tool in VSCode and select "New robotic arm project".

[0037] S22, Automatic Import and Configuration: Imports the URDF model and related parameter files (dynamics, kinematics, appearance model, etc.), and selects the controller hardware to be used. The VSCode plugin automatically parses these files and generates standard configuration files, such as XML configuration files, covering information such as the robotic arm joint model, end effector model, and controller hardware selection.

[0038] S3 sends the configuration file to the cloud server. The cloud server then parses the configuration file and automatically adjusts the hardware configuration and allocates the corresponding resources. This step is illustrated using the generated XML configuration file as an example, and the specific steps are as follows:

[0039] S31, Upload and Automated Processing: Upload the generated XML file to the cloud server. The server automatically retrieves and customizes the controller system source code based on the selected controller hardware.

[0040] S32, Automatic Resource Allocation and Configuration: The server parses the XML file, automatically adjusts the hardware configuration (such as CPU, IO, serial port, etc.) and allocates the corresponding resources, including parameter settings for kinematic and dynamic algorithm libraries, joint parameter settings for controller software, and model file replacement, all of which are completed automatically by the server.

[0041] In step S4, the cloud server selects a suitable compiler based on the hardware configuration and generates the corresponding application and host computer control software. Step S4, also known as compiling and generating the application, specifically includes: the cloud server using a suitable compiler to compile and generate the application and host computer control software based on the controller hardware.

[0042] S5 simulates and verifies the application program and the host computer control software. After successful simulation and verification, the user downloads the application program to the corresponding hardware, generating the robotic arm control system. The simulation and verification process includes the following steps:

[0043] (1) Automatic Loading and Simulation: After compilation, the VSCode plugin automatically downloads the generated application and loads the host computer simulation interface, such as a PC. Users can use this interface to perform simulation operations on the robotic arm and verify whether the motion in joint space and Cartesian space meets expectations.

[0044] (2) Rapid iteration: If the simulation results do not meet expectations, users can directly modify the design parameters or control algorithm in VSCode, re-upload and automatically generate a new control program.

[0045] In addition, the simulation environment includes simulations of various robotic arm configurations, actuator simulations, and bus communication simulations. Each simulation environment is described below:

[0046] ① Simulation of robotic arm form, capable of simulating robotic arms of any form;

[0047] ② Simulation of the driver, including simulation of driving effects and simulation of driving behavior, are as follows:

[0048] A. Driver simulation includes simulation of driver effects. Simulation of driver effects involves converting the driver program code to provide a hardware-independent driver simulation environment. Simulation of driver effects is also called driver-level simulation. Specifically, it can simulate the driving effects of a real robotic arm. For example, converting the microcontroller code of the driver program into a Linux system code project to achieve a hardware-independent driver simulation environment.

[0049] B. Simulation of drive behavior, which includes the simulation of motor function, control strategy, feedback loop, power consumption, and temperature control. Specifically, it involves accurately simulating the behavior of the drive, including factors such as motor characteristics, control strategy, feedback loop, power consumption, and temperature. High-fidelity drive simulation is achieved through physical modeling (such as motor model and load model) to approximate the performance of the robotic arm in a real environment.

[0050] ③ Simulation of bus communication, also known as simulation of underlying bus communication, involves accurately simulating underlying bus communication protocols (such as CAN bus, EtherCAT, RS-485, etc.), including mechanisms such as bus arbitration, data transmission, error detection and handling, to ensure that the simulation environment can realistically simulate phenomena such as latency, noise and data loss in actual communication.

[0051] Furthermore, the simulation's auxiliary services include: programming management, deployment management, and real-time simulation management, with each service management having its own management module. This simulation environment assists in the development of the robotic arm application, and each management module is responsible for specific business logic, as follows:

[0052] (1) Programming management provides a graphical programming interface and supports high-level programming languages:

[0053] ① The graphical programming interface uses drag-and-drop logic blocks to build control flows, reducing the programming threshold.

[0054] ② The system supports Python, a high-level programming language, and provides a rich set of API interfaces, allowing users to call the hardware functions and software services of the robotic arm through Python. These API interfaces include motion control, sensor data acquisition, and communication protocols for the robotic arm, and provide code examples and detailed development documentation to help users quickly get started with writing high-level programming languages ​​and understand how to use the API interfaces.

[0055] (2) Deployment Management: Converting user-written code via a graphical programming interface or high-level programming language into executable code for the robotic arm, including logic parsing and code generation:

[0056] ①Logic parsing: For the control flow constructed by the graphical programming interface, the simulation platform will parse the logic blocks and connection relationships in these flows and convert them into executable code or instruction sets.

[0057] ② Code generation: For control code written in Python, the simulation platform directly interprets and executes the source code through the integrated Python interpreter.

[0058] (3) Real-time simulation management: This includes the ability to simulate motion in Cartesian space and joint space, and to individually control the position, posture, or joint angle of the end effector. It can also simulate the control of programming modules and display the program's execution effect in real time. The real-time simulation environment allows users to simulate and verify the control flow to ensure its correctness and reliability. Real-time simulation sends instructions to the generated robotic arm control system for simulation, and obtains the robotic arm's status from the control system in real time, displaying it in the visible area.

[0059] After the simulation verification is passed, the user can download the application to the corresponding hardware (controller hardware) with one click to complete the deployment of the robotic arm control system. This invention relies on low-cost and low-power controller hardware and driver hardware. The low-power controller hardware and driver hardware solve the existing defects such as insufficient computing power and insufficient software resources on the basis of extremely low cost, and complement the controller system generated by this application. The simulation platform is built with the core control program developed by this invention, which includes core algorithms (current loop drag teaching, trajectory reproduction, joint space trajectory planning, Cartesian space trajectory planning, collision detection, force-position hybrid control, etc.). For example: (1) Current loop drag teaching application scenario, used for robot teaching and programming, specifically: in the robot teaching process, through the current loop drag teaching algorithm, the effective compensation of the robot joint friction torque and the gravity torque of the linkage load mechanism is realized, so that the operator can easily drag the robot to perform trajectory teaching without overcoming heavy mechanical resistance. Precision assembly and debugging: In the precision assembly and debugging scenario, the current loop drag teaching algorithm can ensure that the robot completes the operation with extremely high precision and flexibility, thereby improving production efficiency and product quality; (2) Cartesian space trajectory planning application scenario, to ensure precise operation of the robot, specifically: In the scenario where continuous trajectory tracking control of the robot end effector is required, such as precision machining, surgical robots and other fields, the Cartesian space trajectory planning algorithm can ensure that the robot completes the operation task with a controllable and predictable path. Robot navigation and obstacle avoidance: In the robot navigation and obstacle avoidance scenario, the Cartesian space trajectory planning algorithm can combine environmental modeling and sensor data to plan a safe and efficient path for the robot, thereby avoiding collisions with obstacles. (3) Joint space trajectory planning application scenario, used for humanoid robot motion planning, specifically: Humanoid robots need to simulate human movement, and joint space trajectory planning can plan joint trajectories that conform to human movement laws based on the kinematics and dynamics characteristics of the human body, thereby improving the naturalness and comfort of the robot's movement. (4) Force-position hybrid control application scenarios: For robot adaptive grinding, specifically, the robot needs to adjust the grinding force and angle according to the shape and material properties of the workpiece surface to achieve the best processing effect. Force-position hybrid control can enable the robot to automatically adjust the grinding force and angle, improving processing efficiency and quality. Robot massage: In massage scenarios, the force-position hybrid control algorithm can adjust the massage force and position in real time according to the user's needs and feedback, thereby providing a more comfortable and personalized massage experience. Robot gripping: In robot gripping scenarios, the force-position hybrid control algorithm can ensure that the robot can maintain a stable gripping force and achieve precise position control when gripping and placing objects.

[0060] Furthermore, this simulation environment (platform) is consistent with the real control system and can be compiled for different compilation environments. The simulation platform first quickly generates the corresponding control system for the robotic arm through parameter input. Then, the application program for the robotic arm can be written through the programming management module, and the reliability of the control system can be verified through simulation. When developing robotic arm applications, this platform can be used as an aid, supporting high-level language programming and graphical programming. Through the calculation and simulation of the control system, robotic arm application development can be conveniently carried out in the early stages without configuring a hardware environment.

[0061] Furthermore, the method also includes:

[0062] S6 involves conducting physical testing of the robotic arm control system and monitoring its operational status via host computer control software. Based on this monitoring, the control system is then debugged and optimized. The generated control program is deployed to the actual hardware for further testing to ensure the robotic arm performs as designed in a real-world environment. The operational data obtained from these tests is used to further optimize the robotic arm's design and control system, creating a closed-loop feedback loop and improving the overall system performance and reliability.

[0063] Furthermore, addressing the complexity and repetitiveness of software development for different types of robotic arms, as well as the inconvenience of verification and the long testing time, the robotic arm control system generated by this invention can simplify verification and shorten testing time in the following ways:

[0064] 1. Automated Generation and Consistency: The generated control system can automatically handle parameter configurations for different robotic arm configurations, ensuring system uniformity and consistency, and reducing repetitive manual coding work. This automated generation eliminates errors caused by manual coding, thereby improving system reliability.

[0065] 2. Integrated Simulation and Verification: The generated control system integrates a simulation environment, enabling immediate simulation verification after generation. Developers can quickly test the robotic arm's motion and control logic in a virtual environment, thereby identifying and fixing problems at an early stage. This avoids the tedious process of actual hardware testing, significantly shortens testing time, and enhances test coverage.

[0066] 3. Modular Management Design: The control system employs a modular management design, with each module pre-verified to ensure its independence and reliability. When building the control system, these modules can be directly assembled into a new system, reducing the overall verification workload. The modular management design also allows for rapid iteration and testing of specific functions without requiring a complete refactoring.

[0067] 4. Automated Testing and Feedback: Once the control system is generated, an automated test suite can be run immediately. These tests cover all functions and boundary conditions of the system, enabling rapid feedback on problems and shortening the time for problem localization and repair.

[0068] 5. Real-time debugging and adjustment: The generated control system supports real-time debugging and parameter adjustment functions, enabling developers to adjust control strategies and parameters in real time during testing, quickly verify the improvement effect, and further reduce testing and optimization time.

[0069] In these ways, the resulting control system not only reduces the complexity of software development, but also greatly improves the efficiency of verification and testing, making the entire development cycle shorter and more efficient.

[0070] like Figure 2 As shown, another aspect of the present invention provides a device for generating a robotic arm control system, comprising:

[0071] The robotic arm modeling module 21 is used to create a robotic arm model in 3D modeling software and export the robotic arm model data.

[0072] Project creation module 22 is used to create robotic arm projects, import robotic arm model data into robotic arm projects, and generate corresponding configuration files;

[0073] The hardware configuration module 23 is used to send the configuration file to the cloud server. After the cloud server parses the configuration file, it adjusts the hardware configuration and allocates the corresponding resources.

[0074] The compilation module 24 is used by the cloud server to select a suitable compiler based on the hardware configuration, and to generate the corresponding application and host computer control software through the compiler.

[0075] The simulation verification module 25 is used to simulate and verify the application program and the host computer control software. After the simulation verification is passed, the user downloads the application program to the hardware to generate the robotic arm control system.

[0076] Furthermore, the device also includes:

[0077] The test optimization module 26 is used to perform physical testing on the robotic arm control system and monitor the operating status of the robotic arm control system through the host computer control software; then, the robotic arm control system is debugged and optimized based on the operating status.

[0078] This invention provides a method and apparatus for generating a robotic arm control system, which has the following advantages:

[0079] 1. The generation method of this invention skips the traditional robotic arm development process, starting directly from the model design stage. After exporting design parameters, it automatically generates algorithms and control software, greatly improving R&D efficiency. This method eliminates the cumbersome steps between model design, algorithm development, and software development, achieving rapid transformation from design to software generation, and can quickly generate control systems for various types of robotic arms.

[0080] 2. Traditional control systems, such as ROS, typically require extensive code development to complete simulations, and the simulations often only cover upper-level control applications. However, the control system simulation generated by this invention avoids these limitations. The control system generated by this invention not only supports simulation but can also directly drive physical hardware interfaces, achieving a seamless transition from simulation to actual control and greatly simplifying the development process.

[0081] 3. By employing algorithm optimizations that match the hardware computing unit, computational speed can be significantly improved. Simultaneously, these algorithms are tightly coupled with the driver's operating mode, ensuring a high degree of coordination between algorithm data and the driver, and the communication protocol is tightly integrated with the driver, thereby improving servo communication speed. Precise control of the robotic arm can be achieved using a self-developed low-cost, high-performance controller, thus lowering the industry barrier.

[0082] The present invention has been described above with reference to embodiments thereof. However, these embodiments are merely illustrative and not intended to limit the scope of the invention. The scope of the invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the invention, and all such substitutions and modifications should fall within the scope of the invention. Although embodiments of the invention have been described in detail, it should be understood that various changes, substitutions, and alterations can be made to the embodiments of the invention without departing from the spirit and scope of the invention. Obviously, the above embodiments are merely examples for clear illustration and are not intended to limit the embodiments. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention. Those skilled in the art should understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, produce a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps specifying the functions in one or more boxes. Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes the flows of the embodiments of the methods described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. The steps in the methods of the embodiments of the present invention can be adjusted, merged, and deleted according to actual needs. The modules [units] in the system [terminal or device] of the embodiments of the present invention can be merged, divided, and deleted according to actual needs.

Claims

1. A method for generating a robotic arm control system, characterized in that, include: Create a robotic arm model in 3D modeling software and export the robotic arm model data; Create a robotic arm project, import the robotic arm model data into the robotic arm project, and generate the corresponding configuration file; The configuration file is sent to the cloud server, which then parses the configuration file and adjusts the hardware configuration and allocates the corresponding resources accordingly. The cloud server selects a suitable compiler based on the hardware configuration and generates the corresponding application and host computer control software through the compiler. The application program and the host computer control software are simulated and verified. After the simulation verification is successful, the user downloads the application program to the corresponding hardware to generate the robotic arm control system.

2. The method for generating a robotic arm control system according to claim 1, characterized in that, The method further includes: The robotic arm control system is subjected to physical testing, and its operating status is monitored through the host computer control software; then, the robotic arm control system is debugged and optimized based on the operating status.

3. The method for generating a robotic arm control system according to claim 1, characterized in that, The simulation includes: simulation of the robotic arm's form, simulation of the actuator, and simulation of bus communication.

4. The method for generating a robotic arm control system according to claim 1, characterized in that, The simulation's auxiliary services include: simulation management, deployment management, and real-time simulation management.

5. The method for generating a robotic arm control system according to claim 1, characterized in that, The robotic arm model data includes: URDF model, dynamic parameters, kinematic parameters, and appearance model.

6. The method for generating a robotic arm control system according to claim 3, characterized in that, The driver simulation includes the simulation of the driving effect, which is achieved by transforming the driver program code to provide a hardware-independent driver simulation environment.

7. The method for generating a robotic arm control system according to claim 3, characterized in that, The simulation of the driver also includes the simulation of the driving behavior, which includes the simulation of the motor function, control strategy, feedback loop, power consumption and temperature control functions.

8. The method for generating a robotic arm control system according to claim 4, characterized in that, The programming management provides a graphical programming interface and interfaces for high-level programming languages.

9. A device for generating a robotic arm control system, characterized in that, include: The robotic arm modeling module is used to create robotic arm models in 3D modeling software and export robotic arm model data. The project creation module is used to create robotic arm projects, import the robotic arm model data into the robotic arm projects, and generate corresponding configuration files; The hardware configuration module is used to send the configuration file to the cloud server. After the cloud server parses the configuration file, it adjusts the hardware configuration and allocates the corresponding resources. The compilation module is used by the cloud server to select a suitable compiler based on the hardware configuration, and generate the corresponding application and host computer control software through the compiler; The simulation verification module is used to simulate and verify the application and the host computer control software. After the simulation verification is passed, the user downloads the application to the hardware to generate the robotic arm control system.

10. The generating device for the robotic arm control system according to claim 9, characterized in that, The device further includes: The test optimization module is used to perform physical testing on the robotic arm control system and monitor the operating status of the robotic arm control system through the host computer control software; then, the robotic arm control system is debugged and optimized based on the operating status.

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