基于PLCopen标准的工业机器人运动控制器的设计与实现  

Design and implementation of industrial robot motion controller based on PLCopen standard

作　　者：梁艳阳 吴伟 姚超智 王利 LIANG Yanyang;WU Wei;YAO Chaozhi;WANG Li(Intelligent Manufacturing Department,Wuyi University,Jiangmen 529000,China)

机构地区：[1]五邑大学智能制造学部,江门529000

出　　处：《现代制造工程》2021年第12期35-40,52,共7页Modern Manufacturing Engineering

基　　金：国家自然科学基金项目(51905384);五邑大学科研启动基金项目(409170190241)。

摘　　要：为了满足当前工业机器人控制系统对开放性、实时性和控制精度的要求,在CODESYS软件开发环境下,基于PLCopen标准,设计了一种满足各类工业机器人的通用型运动控制系统软件框架,能够实现多关节工业机器人的正/逆运动学求解以及直线和圆弧插补。此外,在CODESYS软件环境下,设计了可视化界面。最后以六自由度串联工业机器人为对象搭建了实验平台,进行了实验验证。结果表明,所设计的软件框架满足设计精度和实时性等要求,并对多关节工业机器人具有很好的通用性。In order to meet the requirements of current industrial robot control system on openness,real-time and accuracy,based on the CODESYS software development environment and PLCopen standard,a universal motion control system software framework which meet various kinds of industrial robot was designed to realize multi-joint industrial robot forward/inverse kinematics solution,and linear and arc interpolation.In addition,the visual interface was designed under the CODESYS software environment.Finally,a 6-DOF series industrial robot was built and verified.The results show that the designed software framework meets the requirements of design accuracy and real-time performance,and has a good versatility for multi-joint industrial robots.

关 键 词：PLCopen标准 CODESYS软件 运动控制 插补 运动学 可视化界面 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]