工业取料机械手二次示教控制方法研究及应用

Research and Application On Two Times Teach Control Method of Manipulator Used In Industry Part Delivery

本文介绍了一种工业取料机械手的控制系统结构及控制策略,以及依据这种控制策略实现的上下位机之间的二次示教机制,这种控制策略提高了上下位机之间通讯的实时性,避免了目通讯干扰而可能给系统带来的种种故障,大大提高了系统的可靠性。

This paper introduces the system control structure and control strategy of a manipulator used in industry part delivery. On this control strategy Two Time Teach Mechanism is provided. This control method improves the real-time ability between upper computer and lower controller and decreases the malfunction on system led by communication disturbance. The performance of system is greatly improved.