摘要
本文介绍了通用型工业机器人二级计算机主从式控制系统的设计方案,总结了工业机器人控制系统设计所必须考虑的问题:主从机结构、主从机通讯、机器人回零及超程保护、伺服系统以及主从机软件故障检测和保护。
In this paper,a sheme of master-slave computer control system for general purpose industrial robots is introduced.Some main problems which must be considered when designing control system for industrial robots have been summarized;which include the structure and communication of master and slave computer,robot's zero return system and over travelling protection,servo system and software's trouble detection and protection of masler and slave computer.
