摘要
针对五轴混联机器人对控制的实时性、开放性要求高的特点,设计以EtherCAT现场总线为基础、基于TwinCAT3平台的控制系统。根据机器人的机械结构建立D-H模型,求解运动学正逆解算法,以C#编程语言进行算法的实现与封装。使用“设定值发生器”方法实时控制各轴运动,更加灵活有效地实现复杂运动控制功能,并可扩展应用于更广泛的场合。通过人机界面实现了机器人示教、参数设置、运动控制等功能。测试结果表明:该控制系统稳定可靠,实时性强,易扩展,具有广泛的应用前景。
Aiming at the real-time and openness high requirements of five-axis hybrid robot control,a control system based on EtherCAT fieldbus and TwinCAT3 platform was designed.The D-H model was established according to the mechanical structure of the robot,the forward and inverse kinematics algorithm was solved,and the algorithm was realized and packaged in C#programming language.The"Setpoint Generator"method was used to control the movement of each axis in real time.It can realize complex motion control functions more flexibly and effectively,and can be extended to a wider range of occasions.The functions of robot teaching,parameter setting and motion control were realized by HMI.The test results show that the control system is stable,reliable,real-time,easy to expand,and has a wide application prospect.
作者
于伶
刘志恒
徐昌军
郭万金
YU Ling;LIU Zhiheng;XU Changjun;GUO Wanjin(Yangtze River Delta HIT Robot Technology Research Institute,Wuhu Anhui 241007,China;Key Laboratory of Road Construction Technology and Equipment,Ministry of Education,Chang′an University,Xi′an Shaanxi 710064,China;Post-Doctoral Research Center,Wuhu HIT Robot Technology Research Institute Co.,Ltd.,Wuhu Anhui 241007,China)
出处
《机床与液压》
北大核心
2024年第21期52-56,共5页
Machine Tool & Hydraulics
基金
中央高校基本科研业务费专项资金项目(300102253201)
安徽省博士后研究人员科研活动经费项目(2023B675)
中国博士后科学基金项目(2022M722435)。
