基于数控平台对工业机器人控制设计与研究  

Design and research of industrial robot control based on CNC platform

作　　者：倪骁骅[1] 郭祥东[1,2] 刘青[3] 

机构地区：[1]盐城工学院机械工程学院,江苏盐城224001 [2]安徽理工大学机械工程学院,安徽淮南232001 [3]江苏大学机械工程学院,江苏镇江212013

出　　处：《中国农机化学报》2015年第3期279-281,285,共4页Journal of Chinese Agricultural Mechanization

摘　　要：为提高连杆加工中流水线上连杆体与衬套的装配工序的效率,使用工业机器人进行装配作业;根据控制轨迹建立数学模型,设计控制算法,对数学模型进行求解。采用普通数控系统作为工业机器人控制系统。通过实验:装配机械手控制稳定、轨迹灵活、生产效率提高。In order to improve the efficiency of the connecting rod and bushing assembly in the line production, the industrial robot was used in trajectory control. According to the established mathematical model, the control algorithm was designed, The ordinary numerical control system was used as the control system of industrial robot. Through experiment： the assembly manipulator could control trajectory stably and flexibly, which improves the production efficiency.

关 键 词：工业机器人 数控系统 控制算法 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]