多类型机器人在开放式结构中集成的研究

Study of Open Archiecture Integration of Multi-Type Robotic Systems

将 2种应用非常普遍的工业机器人 PUMA5 60和 IBM75 75的控制器完全重新改装 ,用 1个开放式结构的控制器 PMAC来取代 ,并将它们与工业输送带组成 1条模拟的机器人自动生产装配线 ,该生产线可以在 Ch语言环境下编程运行。讨论了机器人控制器替换的策略以及 Ch编程的基本方法 ,并用 1个模仿机器人自动生产装配线生产过程的简单应用程序演示开放式结构的机电系统在 Ch语言环境下集成的基本应用。

Authors had completely retrofitted the original controllers of two popular industrial robot manipulators PUMA 560 and IBM 7575. An open architecture controller PMAC was used to instead original ones. They were integrated with a conveyor to form a robot workcell. This robot workcell can be programmed to run under the Ch language environment. The retrofitting strategy of the robots and the programming method in Ch would be described in this paper. An experimental application program for simulating assembly operations of this robot workcell would be offered to demonstrate the underlying principles of open architecture integration of mechatronic systems under the programming paradigm of the Ch language environment.