基于CODESYS的机器人控制系统设计

Design of Robot Control System Based on CODESYS

随着机器人技术的不断发展,机器人在工业自动化、医疗卫生和服务业等领域得到广泛应用。为满足机器人控制系统对开放性、通用性和扩展性的要求,本文在IEC61131-3标准的基础上,使用CODESYS软件开发环境设计了一种机器人开放式运动控制系统,该系统能够实现机器人的正逆运动学求解、插补运动等功能,并设计了可视化界面进行操作。此外,还使用UG MCD模块进行了UR5机器人控制仿真,通过观察仿真过程中机器人的运行状态,验证了机器人控制系统的有效性。实验结果表明,该机器人控制系统运行稳定,具有良好的应用前景和广泛的适用性。

With the continuous development of robot technology,robots are widely used in industrial automation,health care and service industries.In order to meet the requirements of openness,versatility and expansibility of robot control system,this paper designs a robot open motion control system based on IEC61131-3 standard and CODESYS software development environment.The system can realize the functions of forward and inverse kinematics solution,interpolation motion and so on,and designs a visual interface to operate.In addition,the UG MCD module is used to simulate the UR5 robot control.By observing the running state of the robot in the simulation process,the effectiveness of the robot control system is verified.The experimental results show that the robot control system runs stably and has good application prospects and wide applicability.