一种机器人素描控制系统设计与实现

Design and Implementation of a Sketching Robot Control System

基于新时达STEP SmartRC_SD500E六自由度桌面机器人,设计了一种机器人素描控制系统。该控制系统由桌面机器人(素描机器人)、平板移动端、PLC、触摸屏等设备构成,在机器人示教器编程时采用每个端口读绝对位置的语句方式,即示教器可通过0~31端口一次接收32个点,实现多地处理轮廓上的点坐标,提高绘图过程的效率和准确性,减少不必要的轨迹中断。现场运行表明,该控制系统运行可靠稳定,满足精度要求,素描图像能客观反映图片的特征,素描清晰度、素描时间可根据需求自由调整,具有一定的趣味性和实用性。

Based on STEP SmartRC_SD500E six degree of freedom desktop robot,a robot sketching control system was designed.The system consists of desktop robots(sketching robots),tablet mobile devices,PLCs,touch screens,and other devices.During the programming of the robot teaching device,the absolute position statement method is adopted for each port.That is,the teaching device can receive 32 points at once through ports 0-31,thereby achieving multi-processing of point coordinates on the contour,improving efficiency and accuracy of the drawing process,and reducing unnecessary trajectory interruptions.The on-site operation proves that the designed control system has reliable and stable performance,meets accuracy requirements,and achieves sketching image objectively reflecting the characteristics of original image.The clarity and time of the sketch can be freely adjusted,which has a certain degree of fun and practicality.