PLCopen下的工业机器人控制系统设计研究  

Design and Research of Industrial Robot Control System Under PLCopen

作　　者：董浩 屈龙轩 DONG Hao;QU Longxuan(Henan Mechanical and Electrical Vocational College,Zhengzhou,Henan 451192,China)

机构地区：[1]河南机电职业学院,河南郑州451192

出　　处：《自动化应用》2024年第13期83-86,共4页Automation Application

摘　　要：基于PLCopen规范,设计了工业机器人控制系统的方案。首先,通过需求分析,确定控制系统的总体设计目标。其次,设计了控制系统的硬件和软件架构,其中包括主从控制方法、PLC编程环境和功能块编程模式等。通过各种运动模块(如单轴运动模块、回零运动模块和圆弧运动模块),实现了机器人的多自由度运动控制。最后,通过实战测试,验证了软件系统在实现精准机器人运动方面的有效性。该设计方案不仅能够满足工业机器人在执行任务时对精准运动控制的要求,还有效提高了机器人控制系统的灵活性和通用性。Based on the PLCopen specification,this paper designs a scheme for the control system of industrial robots.Firstly,through requirement analysis,determine the overall design goals of the control system.Secondly,the hardware and software architecture of the control system was designed,including master-slave control methods,PLC programming environment,and functional block programming mode.Through various motion modules,such as single axis motion module,zero return motion module,and circular arc motion module,multi degree of freedom motion control of the robot has been achieved.Finally,the effectiveness of the software system in achieving precise robot motion was verified through practical testing.This design scheme not only meets the requirements of industrial robots for precise motion control during task execution,but also effectively improves the flexibility and universality of the robot control system.

关 键 词：PLCOPEN 工业机器人 控制系统 PLC 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP242.2[自动化与计算机技术—控制科学与工程]