基于软PLC的Delta机器人运动控制设计及实现  

Design and Implementation of Delta Robot Motion Control Based on Soft PLC

作　　者：李忠浪 陈忠[1] LI Zhonglang;CHEN Zhong(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China)

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：《机电工程技术》2020年第6期79-81,共3页Mechanical & Electrical Engineering Technology

摘　　要：以实现空间3自由度的Delta机器人运动控制为研究目的,基于IEC61131-3国际标准,在CODESYS开发平台上设计了Delta机器人运动控制模块,包括点到点插补运动、直线插补运动、圆弧插补运动等,并通过模块之间的组合实现Delta机器人的连续运动。为了操作方便,开发出相对应的运动控制指令,在可输入界面进行指令编程即可,克服了传统控制卡控制复杂、拓展性差的缺点。采用3-4-5多项式轨迹规划出的门型路径,在Delta机器人上机实验,结果表明机器人能稳定运行并且各方向加速度与理论加速度一致,证明了机器人运动控制设计成功。Based on IEC61131-3 international standard,the motion control module of delta robot was designed on CODESYS development platform,which included point-to-point interpolation motion,linear interpolation motion,arc interpolation motion,etc.,and the continuous motion of delta robot was realized through the combination of the modules.In order to operate conveniently,the corresponding motion control instructions were developed,which could be programmed in the inputable interface.The disadvantages of the traditional control card such as complex control and poor expansibility were overcome.The gate path was designed by 3-4-5 polynomial trajectory,and the experiment was carried out on Delta robot.The results show that the robot can run stably and the acceleration in all directions is consistent with the theoretical acceleration,which proves that the robot motion control design is successful.

关 键 词：CODESYS Delta机器人 运动控制 门型轨迹 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]