基于PLC的工业机器人轨迹跟踪自动化控制系统设计  

Design of industrial robot trajectory tracking automatic control system based on PLC

作　　者：刘芬[1] LIU Fen(Jingzhou Vocational Technical College of Hubei Province,Jingzhou Hubei 434000,China)

机构地区：[1]湖北省荆州职业技术学院,湖北荆州434000

出　　处：《自动化与仪器仪表》2021年第7期84-88,共5页Automation & Instrumentation

基　　金：荆州市科技计划项目:现代企业物料智能运载车(No.2016AD50-12)。

摘　　要：现有工业机器人轨迹跟踪自动化控制系统由于自身硬件与软件的限制,存在着轨迹跟踪与控制误差较大的缺陷,故提出基于PLC的工业机器人轨迹跟踪自动化控制系统设计研究。引入PLC控制器设计新的工业机器人轨迹跟踪自动化控制系统,其硬件单元包含数据采集单元、PLC控制器单元与上位机与伺服电机选型单元;软件模块为工业机器人运动模型构建模块、轨迹跟踪控制规则模块与轨迹跟踪控制算法编程模块。通过上述硬件单元与软件模块的设计,实现了工业机器人轨迹跟踪自动化控制系统的运行。搭建工业机器人实验平台,设置通信模式,进行工业机器人轨迹跟踪自动化控制实验。实验结果显示:与现有系统相比较,设计系统的轨迹跟踪误差与控制误差数据较小,充分表明设计系统的轨迹跟踪控制性能更好。Due to the limitation of hardware and software, the track tracking and control error of the existing automatic control system of industrial robot is quite large.Therefore, the design and research of the automatic control system of industrial robot track tracking based on PLC is proposed.The PLC controller is introduced to design a new industrial robot trajectory tracking automation control system.Its hardware unit includes data acquisition unit, PLC controller unit, upper computer and servo motor selection unit.The software module consists of motion model building module, trajectory tracking control rule module and trajectory tracking control algorithm programming module of industrial robot.Through the design of hardware unit and software module, the automatic control system of industrial robot trajectory tracking is realized.The industrial robot experiment platform was built, the communication mode was set, and the automatic control experiment of industrial robot trajectory tracking was carried out.The experimental results show that compared with the existing system, the trajectory tracking error and control error data of the designed system are smaller, which fully indicates that the trajectory tracking control performance of the designed system is better.

关 键 词：PLC 工业机器人 轨迹跟踪 自动化控制 采集单元 控制算法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]