基于Trio的车身焊接定位机器人控制系统研究

摘要

研发了在汽车白车身底板焊接过程中起快速准确定位作用的三轴定位机器人控制系统.基于IPC+Trio运动控制器,提出了开放式定位机器人控制系统总体方案,并进行了详细的控制系统的软硬件设计,开发了在Visual Studio.NET 2008软件环境中的控制系统上位机管理软件和在Trio Motion Perfect2软件环境下的底层控制程序.实践结果表明,该控制系统能够满足白车身底板焊接的定位控制要求,且运行稳定可靠.%A three-axis positioning robot control system which is used to determine the position of auto body welding rapidly is developed. Based on IPC and Trio motion control card, the general planning and the composition of the open-CNC system of the positioning robot is presented, and the hardware and the software of control system are designed, IPC management software developed by Visual Studio. NET 2008 and low-level control program developed by Motion Perfect2 are realized. The application results show that the control system can meet the requirement of rapid and precision positioning of auto body welding perfectly.