基于PLC的两自由度并联机械手控制系统研究

Study of PLC-based Control System in 2-DOF Parallel Manipulator

针对目前基于PLC的机械手控制系统对电机控制的实时性不佳等问题,设计了两自由度并联机械手控制系统,并采用运动控制CPU作为控制器.通过建立数学模型对机械手进行分析,并编制了精简的控制程序,实现了机械手的高速、精确、平稳运行.

Aiming at the poor real-time performance of the PLC manipulator control system over the motor, this paper studies and designs the 2-DOF parallel manipulator control system,which wields the motion-CPU as the controller. A mathematical model has been established to analyze the manipulator and a simplified control program has been given. With all that measures, the system has run rapidly,accurately and steadily.