基于虚拟主从同步控制的龙门式机器人系统设计与实现

摘要

介绍了虚拟主从同步控制在高精度龙门式机器人中的应用，描述了该系统的原理、结构。基于LTi高端伺服驱动器ServoC⁃Plus以及控制器MotionOne，使用符合IEC61131⁃3标准并支持CodeSys V3�0平台的PLC编程语言，实现了双伺服电机的同步控制，大大提高了龙门式机器人的精度、速度。%The application of virtual master⁃slave synchronization control in high precision gantry robot was introduced. The prin⁃ciple and structure of this system were described. Based on LTi high⁃end servo driver and MotionOne controller, using IEC61131⁃3 standard and PLC programming language supporting CodeSys V3�0 platform, the double servo motor synchronous control was achieved. So the accuracy of the gantry robots was improved.