DMC及其在开放式机器人控制器中的应用  

DMC and It's Application in the Development of Robot Controller with Open Architecture

作　　者：王国栋[1] 王刚[1] 肖聚亮[1] 洪鹰[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机床与液压》2003年第6期207-209,共3页Machine Tool & Hydraulics

摘　　要：本文介绍了DMC在建立开放式机器人控制器中的优势 ,提出了SCARA型机器人控制器的方案。工业控制计算机进行空间轨迹规划计算而DMC实现关节运动的控制。实验证明了控制器的可靠性。The advantages of DMC for developing robot controller with open architecture were introduced and control scheme for SCARA type robot was presented. The computation of spatial trajectory planning was carried out by industrial computer,while joints motion control was performed by DMC. The validity of the controller was verified by experiment.

关 键 词：机器人 开放式结构 DMC 轨迹规划 关节运动控制 控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]