摘要
在分析喷涂机器人运动控制系统架构的基础上,提出基于可编程多轴控制器PMAC(Programmable Multi-Axis Controller)的开放式运动控制系统的喷涂机器人轨迹插补算法。主要研究在笛卡儿空间规划中直线和圆弧的插补算法。同时,介绍在vs.net平台上,基于组件技术实现轨迹插补算法,并进行仿真。仿真结果表明本文研究的插补算法满足工业要求。
Proposed in this paper is a trajectory interpolation algorithm for painting robot with an open architecture of robot motion control system based on PMAC. The method of linear interpolation and arc interpolation in Cartesian space is mostly studied. Simultaneously, presented realization of trajectory interpolation algorithm based component technology on the VS.net and emulational result. Emulational result indicating the interpolation algorithm which studied in this paper satisfied industrial need.
出处
《微计算机信息》
2009年第8期251-252,263,共3页
Control & Automation
基金
基金申请人:张铁
项目名称:基于机器人化护理床的社区医护远程监护系统研发及产业化
基金颁发部门:广东省科技厅(20054982304)
关键词
喷涂机器人
轨迹插补算法
直线插补
圆弧插补
组件技术
painting robot
trajectory interpolation algorithm
linear interpolation
arc interpolation
component technology