摘要
以工业码垛机器人控制系统及其控制特性为研究对象,设计了一种基于工业控制计算机(IPC)+多轴运动控制卡(PMAC)的模块化分布式控制系统,探讨了工业码垛机器人控制系统的理论建构和工程实现问题,并通过工程样机长时间、多样式的码垛作业实验,证实该工业码垛机器人控制系统能可靠实现伺服控制、路径规划、状态监控和人机界面操作.
The research objects are control system and characteristic of the industrial palletizing robot,a kind of modularizing and distributed control system based on IPC ＋ PMAC is designed, theoretic structure and project realization of the control system are discussed. The control system can realize servo control,path programming, state monitoring,HMI and so on through palletizing experiments of sample robot with long time and many modes.
出处
《机械与电子》
2009年第9期57-60,共4页
Machinery & Electronics
