基于上下位机结构的隧道凿岩机器人控制系统  

Development of Master-Slaved Tunnel Rock-Drilling Robot Control System

作　　者：谢习华[1] 何清华[1] 周亮[1] 郭勇[1] 

机构地区：[1]中南大学机电工程学院,湖南长沙410083

出　　处：《中国工程机械学报》2004年第4期433-436,共4页Chinese Journal of Construction Machinery

基　　金：国家"八六三"高技术研究计划资助项目(编号:863-512-9806-01);国家863计划引导资金项目(编号:2002AA001019)

摘　　要：隧道凿岩机器人控制系统,具有断面轮廓与布孔设计、虚拟实现、车体激光定位、手动可编程逻辑控制器(PLC)控制、电脑导向控制、自动移位与自动凿岩、孔序任务动态规划、故障诊断、人工干预与急停处理等功能.其钻臂是一种双三角直接定位式钻臂,每一个钻臂一共具有6个转动关节以及3个移动关节,是一种典型的具有多冗余自由度耦合关节型机械臂.机载控制系统采用上下位机结构,规划级和控制级的功能相互独立,减轻下位机的工作负荷,使得控制系统具有较高的实时性与可靠性.并针对钻臂结构及其液压控制系统的特点.介绍控制系统的基本构成、基本工作原理与过程、控制系统的软件实现等.In this paper,the tunnel rock-drilling robot control system,is introduced.Its functions include tun- nel profile and holes designing,carriage positioning,manual PLC control,computerized image-guided control, auto guiding,auto drilling,bore sequence dynamic programming,manual interfering,fault diagnosing and e- mergency stop,etc..Each boom of the robot,with six rotating joints and three sliding joints,is a type of di- rectly position mechanism and a typical redundant and multi-free-degree coupling manipulator.In this paper, the configuration,work principle and procedure of the control system is presented.The control system is a master-slaved control system,complicated programming and operational calculation done by the master com- puter,and the workload of the slave computer(PLC)getting minimum.That enhances the real-time control. Since the data transfer between master and slave computers getting minimum,the control system possesses high reliability and promptness.

关 键 词：凿岩机器人 凿岩台车 控制系统 控制器 软件 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP421.2[自动化与计算机技术—控制科学与工程]