摘要
为了满足工业机器人在实际工作中对系统的开放性、可扩展性、可移植性及运动的平稳性要求,在分析CoDeSys软件架构及功能的基础上,利用EtherCAT总线技术,采用线性串行拓扑网络结构和一主多从的控制模式,设计了基于CoDeSys的六自由度工业机器人运动控制系统,实现了控制系统硬件的搭建及软件的开发,重点研究了系统加减速及空间连续运动规划算法,通过MATLAB仿真验证了算法的正确性,最终通过工业机器人运动控制实验验证了系统的可行性。
To meet the requirements of the industrial robot in the actual work on the system of openness, scalability, portability and the movement of the stability, a 6-DOF industrial robot motion control system is designed and？the construction of the system hacdwareand the development of software is completed based on the analysis of the architecture and function of CoDeSys software and EtherCAT bus technologies, and using linear serial network topology structure and control mode of one-master and multi-slave.Finally, it analyzes the acceleration and deceleration of the system, and researches the spatially continuous motion planning algorithms. The feasibility of the system and algorithm is verified by the MATLAB simulation and the system motion control experiment.
出处
《机械设计与制造》
北大核心
2016年第10期114-117,共4页
Machinery Design & Manufacture
基金
江苏省2014年普通高校研究生实践创新计划项目(SJLX_0513)
