摘要
介绍一种船舶除锈爬壁机器人控制系统。根据船舶除锈对爬壁机器人的控制要求,确定了控制系统采用上下位机两级分布式的控制方案,并分别对上下位机控制系统的硬件和软件进行设计。搭建爬壁机器人控制系统的硬件实物,并进行相关实验测试。试验结果表明:该控制系统有较好的应用性能,能够满足机器人控制系统的要求。
The control system of a wall climbing robot for ship rust removal was introduced. According to the requirements of ship derusting operation, the control scheme was determined, which adopted two stage distributed control system with host and slave com- puter. The hardware and software of host and slave computer control system were designed individually. The prototype of wall-climbing robot control system was manufactured and the relevant tests were taken. The experimental results show that the control system works in a good condition, it can meet requirements of the robot control system.
出处
《机床与液压》
北大核心
2010年第5期64-67,共4页
Machine Tool & Hydraulics
基金
国家自然科学基金项目(50805011)
中远船务集团总公司重大项目(G2-07-0060)
关键词
船舶除锈
爬壁机器人
控制系统
上下位机
Ship rust removal
Climbing robot
Control system
Host and slave computer
