摘要
利用传统方法控制物流机器人机械手臂时,存在不同机械手臂关节角度控制时间长及控制误差大的问题。为此,设计了一种新的自动化控制系统。首先,通过设计上位机软件和下位机软件接收工作人员发出的控制命令,从根本上提升机械手臂自动化控制精度;然后,在系统硬件中设计了PLC模块、自动化功能模块及报警功能模块,完成机械手臂自动化整体控制。应用该系统后,对机械手臂不同关节角度的控制时间及控制误差展开测试,实验结果验证了该系统具有控制准确性高和时效性高的优势。
When the traditional method is used to control the mechanical arm of logistics robot,the control time of different robot arm joint Angle is long and the control error is large.Therefore,a new automatic control system was designed in this study.Firstly,by designing the upper computer software and the lower computer software to receive the control commands issued by the staff,the automatic control precision of the mechanical arm is fundamentally improved.Then the PLC module,automatic function module and alarm function module are designed in the system hardware to complete the overall automatic control of the mechanical arm.After the application of the system,the control time and control error of different joint angles of the robotic arm are tested,and the experimental results verify that the system has advantages of high control accuracy and high timeliness.
作者
李炜
黄倩
LI Wei;HUANG Qian(Information Center,Renmin Hospital of Wuhan University,Wuhan 430060,China;Wuchang Polytechnic College,Wuhan 430202,China)
出处
《机械与电子》
2022年第11期76-80,共5页
Machinery & Electronics
