应用于遥控焊接的开放式主从机器人控制系统  

Open architecture master-slave robot remote welding control system

作　　者：陈洪堂[1] 李海超[1] 高洪明[1] 吴林[1] 

机构地区：[1]哈尔滨工业大学现代焊接生产技术国家重点实验室,哈尔滨150001

出　　处：《焊接学报》2011年第2期49-52,115,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(50905043)

摘　　要：手动控制的主从机器人系统不能满足遥控焊接的要求,因此开发了一套开放式主从机器人系统.主机器人是由6自由度的SpaceNavigator空间鼠标安装在开放性的Motoman HP3J机器人末端构成,其控制平台为RTlinux系统.从机器人为改造后具有开放性的V01弧焊机器人,其控制平台为Windows 2000系统和功能强大的PMAC(programmable multi-axis controller)运动控制卡,主从机器人之间通信是基于套接字的局域网TCP/IP协议.实现了主机器人对从机器人的实时控制.结果表明,开放式主从机器人控制系统运行平稳可靠.Manual control using the master-slave robot remote welding system can not meet the requirements of remote welding,and so an open architecture master-slave robot remote welding system is developed.Motoman HP3J robot is the master robot,the end-effector of the Motoman HP3J robot is 6 degrees of free SpaceNavigator spaceball,the control platform of the master robot is RTlinux operating system,and V01 robot is the slave robot which the control system consists of the Windows 2000 Operating System and PMAC(programmable multi-axis controller) motion control card.The communication between the master robot and slave robot is LAN(local area network) TCP/IP communication protocol based on the Socket.The salve robot can be real-time controlled by the master robot.The experimental results show that the open architecture master-slave robot remote welding system runs stably and reliably.

关 键 词：遥控焊接 开放式 主从控制 跟踪精度 

分 类 号：TG115.28[金属学及工艺—物理冶金]