MOTOMAN工业机器人实时控制平台研究  

Research on Real-time Control Platform for MOTOMAN Industrial Robot

作　　者：徐呈艺[1] 陈广健[1] 徐晓峰 焦恩璋[3] 

机构地区：[1]南通职业大学机械工程学院,江苏南通226007 [2]江苏苏美达集团公司,南京210018 [3]南京林业大学机械电子工程学院,南京210037

出　　处：《组合机床与自动化加工技术》2012年第10期80-83,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：以MOTOMAN-UP6机器人为对象,利用Visual C++语言开发了工业机器人实时控制平台。应用面向对象技术对MOTOCOM32库进行封装,编写了基于RS232串口通信协议的MOTOMAN机器人控制平台的代码程序,实现了视频监控、高速数据交换和示教编程等功能。采用实时控制平台进行机器人控制功能测试,说明该平台具有作业交换速度快、实时性强和用户界面友好等特点。该平台的开发,增加了操作者的控制范围,改善了操作者的控制环境,为机器人实时控制进一步研究打下了重要的基础。Regarding MOTOMAN-UP6 robot as the research subject, a real-time control platform for the industrial robot was developed with Visual C ＋＋. With object technology for encapsulated MO- TOCOM32 and RS-232 serial communication protocols, the codes of control platform for MOTOMANUP6 robot were written. The functions of video monitoring, fast speed data transfer and teaching pro- gramming were put into effect. With functional testing on this real-time control platform, the platform is characterized by fast speed data, strong real-time and good UI. The platform expand the control rang and provide a good and safe operating environment to programmers. These provide important foundation of real-time control for future study.

关 键 词：VISUAL C++ 工业机器人 MOTOCOM32 控制平台 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]