摘要
本文论述了一种用于超薄玻璃搬运的大型双臂洁净机器人控制系统。系统采用PLC+伺服控制器的双级控制模式和模块化的软件结构设计,伺服控制器之间的通信采用CAN总线进行,软件采用S型曲线加速以消除系统的振动,并且对双臂机械人运动路径进行了优化。实践证明,这种机器人控制系统运行平稳,快速,高效,达到了生产现场的实际要求。
A large-scale twohands clean-robot-control system is introduced in this paper,which is used to convey the thinner glass. The system’s hardware apply a mode of two layers,the super layer’s PLC control and the underlayer’s servo control. The software is designed as module. In order to eliminate libration,we design a S-shape to accelerate,in the meanwhile,optimize the route of the robot to improve the efficiency .It has been proved that this robot control system’s running performance is balanced、speedy、effi-ci...
出处
《微计算机信息》
北大核心
2008年第5期206-208,共3页
Control & Automation
基金
国家863计划项目(2005AA420320)智能化超薄玻璃取片装置研发
