关节型机器人路径插补控制的研究

Research on Joint Robot Path Interpolation Control Based on Simatic T-CPU

针对应用于搬运作业的4R关节型机器人,提出在关节空间中用多项式插值的方法进行轨迹规划。应用Simatic T-CPU 315T-2DP作为运动控制器、IM174作为通信模块来连接伺服驱动器,通过硬件、软件组态及调用运动控制模块实现机器人各关节轴的插补运动。

This paper proposed a method applying polynomial interpolation to trajectory planning of 4Rjoint robot used in handling operations.The control system uses a Simatic T-CPU 315T-2DP as motion controller,IM174 as a communication module to connect the servo drive,by use of software configuration and calling the motion control module,to achieve the interpolation motion of each joint axis.