可重构码垛机器人模块化控制系统实现  

Implementation of modularized control system for reconfigurable stacking robot

作　　者：杨继东[1] 胡啟旭 张铁兵 万彪刚 YANG Jidong;HU Qixu;ZHANG Tiebing;WAN Biaogang(School of Mechanical Engineering,Chongqing University,Chongqing 400044,China)

机构地区：[1]重庆大学机械工程学院,重庆400044

出　　处：《传感器与微系统》2020年第9期105-107,111,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51375507)。

摘　　要：提出了一种新型可重构码垛机器人模块化控制系统。根据机构和运动特性,利用工控机(IPC)、运动控制卡、可编程逻辑控制器(PLC)和人机界面(HMI)实现了控制系统。建立了具有系统层、规划层和资源层的混合式可重构控制体系结构。同时也建立了功能模块的参数化模型,然后系统会根据需要通过一定的重构规则和执行规则对功能模块进行配置,并简单阐述了重构规则和执行规则的设计。通过在件烟码垛自动上下料项目上的运用,验证了系统的可行性。The modularized control system for a novel reconfigurable stacking robot system is proposed.According to the characteristics of the mechanism and motion,use industrial personal computer(IPC),motion control card,programmable logic controller(PLC)and human machine interface(HMI),control system is realized.Hybrid and reconfigurable control architecture,which consists of system layer,planning layer and resource layer is established.At the same time,parameterized model of the function module is established,then the system can configure these functional modules according to the need by using some reconfiguration rules and execution rules,and simply introduce the design of them.The control system is successfully applied in the project of automatic stacking of smoke,the experiments prove the feasibility of the control system.

关 键 词：可重构 模块化 混合式控制 功能模块 参数化模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]