SCARA机器人控制系统的设计与研究  

The design and research of SCARA robot control system

作　　者：胡杰[1] 张铁[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640

出　　处：《机械设计与制造》2012年第5期162-164,共3页Machinery Design & Manufacture

基　　金：国家863重点课题资助项目(2009AA043901-3);粤港关键领域联合招标项目(20090101-1);广州白云区科技攻关项目资助(2009-S2-46)

摘　　要：与传统的工业控制器相比,开放式控制器具有更好的可控性和扩展性,并且PC+DSP运动控制卡模式已经成为机器人领域的主流控制方式。介绍了研究所自主研发的SCARA机器人控制系统的硬件构成,及软件系统结构;并详细介绍了离线编程模块、运动控制模块、状态监控模块和日志系统的实现方法。经验证:机器人系统可直接生成加工工序或轨迹,并进行作业过程的仿真,同时应用多线程,实时监控并记录系统状态,提高运行效率和系统可靠性。Compared with the traditional industrial controller,the open controller has better controllability and expansibility,and the mode of PC ＋ DSP movement control CARDS has become the mainstream in the field of robot control.It introduces the software and hardware structure of control system about SCARA robot being designed independently by research institute,and introduces the method of off-line programming module,motion control module,state monitoring module and log system.Experiments demonstrate that robot system can directly generate processing operations or track,and simulate the process of the operations;Moreover,the efficiency and system reliability can be increased by real-time monitoring and recording system status with threads.

关 键 词：SCARA机器人 PC+DSP 控制系统 线程 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]