采用Trio运动控制器的搬运机器人控制系统研究

摘要

介绍一种自主开发的三直角坐标机器人机械结构及其可实现的功能.针对机器人所完成的货物搬运过程与动作,研究开发一种开放式控制系统.该系统采用运动控制器+PC机+触摸屏结构,其中,Trio公司的Eur0205X型运动控制器为控制系统核心部件,保证了PC机软件程序对机器人硬件本体的控制作用及触摸屏的离线控制功能.各种传感器的使用,提高了系统的运动与控制精度.实验表明,该机器人工作稳定可靠,性能、精度均能满足设计要求,为实验室机器人的进一步研究奠定了基础.%Mainly introduces the mechanical structure and functions which can be realized of a self-developed three Cartesian coordinate robot and develops an open control system based on the robot's cargo handing process and action. System uses the motion controller + PC + touch-screen machine structure, in which Trio's Euro205X motion controller is the heat of the system components,it ensures PC-software programs to control the robot hardware and touch-screen' s off-line control functions. It can improve the system's movement and control precision by use of a variety of sensors. It shows that the robot' s performance and precision can meet the design requirement, and has laid a foundation for the laboratory robot' s further study.