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| 基于PMAC的开放式弧焊机器人控制系统 |
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张连新, 高洪明, 吴林, 张广军
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哈尔滨工业大学 现代焊接生产技术国家重点试验室, 哈尔滨 150001
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| 摘要: |
| 针对V01弧焊机器人控制器结构封闭,不能进行离线编程和集成焊接传感器的缺点,设计了一种基于PMAC的开放式机器人控制器。文中给出了控制器分层的系统体系和结构化的功能单元组成的控制系统体系结构,根据该体系结构设计了机器人的伺服系统和控制器的硬件结构;采用面向对象技术和模块化的思想开发了系统的控制软件。 |
| 关键词: 弧焊机器人 控制器 可编程多轴运动控制卡 |
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| PMAC-based open architecture arc-welding robot control system |
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ZHANG Lian-xin, GAO Hong-ming, WU Lin, ZHANG Guang-jun
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National Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China
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| Abstract: |
| Because V01 arc-welding robot controller has closed structure and can not be capable of off-line programming and integrating external sensors,a PMAC-based open architecture robot controller for the V01 arc-welding robot was designed in this paper.The architecture of control system consists of layered structure and functional unit was presented.According to the architecture presented,the hardware structure of servo system and control system was designed.Control software was developed by means of objective-oriented technology and the modular. |
| Key words: arc-welding robot controller programmable multi-axes controller |
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