码垛机器人的控制系统

Control System of the Stacker Robot

介绍用于物料系统的码垛机器人 ,采用微型计算机作为主计算机 ,利用分布式二级控制结构实现系统的监控和作业管理 ,协调各关节的运动 ,准确地跟踪轨迹规划 ,使速度达到完全可控 .

This paper introduces the stacker robot of material system, which uses a micro computer as its main computer and uses two classes distrubuted control struction to realize system monitoring and operation management. Main computer harmonizes the movement of every joint and traces path planning accurately,which enable the system to control the robot speed completely.