基于PLC的高速并联机械手控制技术

摘要

Based on Mitsubishi Q02H CPU and QD75M H4 motion control unit and QJ71C24N communication module ,the control system of a Delta manipulator was set up ,the key techniques in robot control ,such as trajectory planning ,data communication and parameter tuning ,were studied ,and the motion control of the robot was realized .%　　以三菱Mitsubishi Q02H PLC和QD75M H4运动控制模块及QJ71C24N串行通讯模块搭建Delta机械手的控制系统，研究了并联机械手的轨迹规划、控制数据通讯和伺服参数整定等保证机械手性能的关键技术，实现了Delta机械手的运动控制。