水轮机修复专用机器人本体测控系统开发研究

Researching the measure and control system of the robot itself for repairing hydraulic turbines

针对水轮机修复专用机器人本体测控系统进行了开发研究,提出了一种具有开放式结构和交互式人机界面的机器人测控系统方案。测控系统的硬件采用开放式结构的模块化、标准化机器人控制器,分布式计算机测控系统结构;测控系统的软件具有模块化结构,很容易增加新的控制算法与控制功能。

The research dealing with the hydraulic turbine repairing robot itself measure and control system has been done. The hardware structure of this system adopts modularized standardization robot controller with opening style. It adopts distributing computer measure and control system structure. The software of this system has the structure of modularization. It is very easy to add new controlling arithmatic and controlling functions.