摘要
对喷涂机器人技术进行了研究,设计并研制了喷涂机器人控制系统,介绍了控制系统的硬件与软件结构,对喷涂机器人系统的示教和离线编程两种模式的工作流程进行了叙述,同时设计了机器人各个关节的PID控制器,并对所设计的PID控制器进行了仿真试验。试验结果表明:所设计的控制器响应速度快,无超调,基本可满足工业需要。
The painting robot technology was studied. The control system of the robot was set up. The hardware and software structure of the control system were introduced. The working process of the two working modes, lead-through working mode and off line programming working mode for the painting robot were discussed. The PID controllers of the robot joints were designed. The simulation experiments of the PID controllerswere carried out. The results show that the respond speed of the controller is very fast and their overshoot is zero, which can satisfy the need of industry.
出处
《机床与液压》
北大核心
2009年第3期13-15,共3页
Machine Tool & Hydraulics
基金
广东省科技计划资助项目(20054982304)
