摘要
首先针对多轴机器人控制采用CAN总线分布式控制方式,描述了机器人轨迹规划的执行流程。为解决多轴协调控制的问题提出了应用伺服PVT插值模式的设计方案。其次结合实验详细介绍了CANopen协议下PVT模式参数的配置过程,认真观察和分析了实验数据。最后实验结果表明PVT插值模式在多轴机器人控制上的可行性和较高的可靠性,能够方便的实现多轴机器人运动的实时性、平滑性和协调性。
With respect to the multi-axis robot control adopting CAN bus distribution,this paper describes the process of implementation of the robot trajectory planning,and proposes the servo PVT interpolation mode to solve the problem of multi-axis coordinated control. By using experiment results,it describes the configuration process of the PVT model parameters under CANopen protocol,and observes and analyses experimental data. The final experimental results show that the PVT interpolation model is feasible and highly reliable in the control of multi-axis robots and that it can easily realize real-time,smooth and coordinated motion of multi-axis robots.
出处
《电气自动化》
2013年第6期6-8,25,共4页
Electrical Automation
基金
江苏省科技支撑计划(工业)(BE2012057)
