Based on the analysis of the characteristics of the common robot control system,and according to the actual demands for truss robot drill pipe handling system,PLC is considered as the main controller for the truss robot.In accordance with the control requirements,the main functions of the control system shall include manual/automatic systematic operation,motion path planning,production parameters setting as well as fault alarm and processing.On this basis,hardware architecture and software structure of control system are determined.The host computer is mainly used for production parameter setting,system adjustment and operation visualization monitoring;the lower computer is used to achieve the control of the actuators.The job status of robot is sent back to PLC in real-time through the remote I/O modules,and the real time operation status of robot is displayed by the host computer for operators to view. Some of the key issues in software system are analyzed emphatically,such as workpiece specification setting logic,workpiece palletizing coordinate positions and the actual position calculation,etc.The operation results of the system show that the system is compact,stable and highly scalable.The realization of the control system has some reference significance for the fields of truss robot used in palletizing material handling.%在分析常见机器人控制系统特点的基础上,根据直角坐标式机器人钻杆搬运系统的实际需求,选择PLC作为直角坐标式机器人的主控制器.依据控制要求,确定控制系统主要实现的功能有:系统手/自动操作、运动路径规划、生产参数设定和故障报警及处理等.在此基础上,确定控制系统的硬件架构和软件结构.上位机主要用于生产参数设定、系统调整及运行可视化监控,下位机实现对执行机构的控制.通过远程I/O模块,实时将机器人的作业状态回传至PLC,并由上位机显示机器人的实时运行状态,以便操作人员查看.重点对软件系统中涉及的几个关键问题展开分析,如工件规格设定逻辑、工件码垛坐标位置和实际位置计算等.系统运行结果表明,该系统结构紧凑,稳定性和可扩展性较高.该控制系统的实现对直角坐标式机器人用于码垛物料搬运领域具有一定参考意义.
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