六轴工业机器人控制系统研究与设计  

Research and Design of Control System for 6-axis Industial Robot

作　　者：吴德君[1] WU De-jun(Shaanxi Institute of Technology,Xi＇ an Shaanxi 710300,China)

机构地区：[1]陕西国防工业职业技术学院,陕西西安710300

出　　处：《装备制造技术》2018年第4期23-25,共3页Equipment Manufacturing Technology

基　　金：陕西国防工业职业技术学院院级课题资助(Gfy17-26)

摘　　要：本文在现有工业机器人控制系统基础上设计了一套开放式工业机器人控制系统,开放式结构可以方便地拓展及更新机器人控制系统的功能,增强机器人的性能。系统采用双级结构控制器,底部采用DMC-2163控制卡控制机器人各关节的运动,利用工控机进行系统顶部管理和轨迹规划,最后对控制系统的软件部分进行了总体实现,通过对系统的测试证明了所研究系统的有效性和可靠性。This paper designs an open industrial robot control system based on the existing industrial robot control system. The open structure can expand and update the functions of the robot control system conveniently and enhance the performance of the robot. The system adopts two-stage structure controller,the bottom uses DMC-2163 control card to control the motion of each joint of the robot,and the industrial control computer is used to manage the top of the system and to plan the trajectory. Finally,the software part of the control system is realized as a whole. The effectiveness and reliability of the system are proved by the testing of the system.

关 键 词：工业机器人 控制系统 DMC 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]