五自由度码垛机器人控制系统设计  

Control system design of 5-DOF stacking robot

作　　者：黄文焕[1] 戚佳金[2] 黄南天[1] 李琰[2] 

机构地区：[1]吉林化工学院,吉林132022 [2]哈尔滨工业大学电气工程及自动化学院,哈尔滨150001

出　　处：《制造业自动化》2008年第4期54-57,共4页Manufacturing Automation

摘　　要：本文首先针对五自由度机器人的工作特点和工作环境,对机器人的操作系统和控制器进行选择,确定了控制方式。接着详细介绍了整个控制系统的组成部分及相应的功能,设计了几种工作模式。并针对各种工作模式编辑了控制软件,最后针对工作过程中可能出现的一些故障给出了相应的解决方案。Based on work characteristics and work environment of 5-DOF robot, the operating system and the controller of robot were chosen firstly, and therefore the control mode was determined. Then the paper expounds the components of the entire control system and the corresponding function, several working modes were designed, and that control software was edited on the basis of various working pattern. Finally, the paper presents the corresponding solutions against possible faults in the working process.

关 键 词：码垛机器人 运动控制 控制系统 模块化设计 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]