| 摘要: |
| 手动控制的主从机器人系统不能满足遥控焊接的要求,因此开发了一套开放式主从机器人系统.主机器人是由6自由度的SpaceNavigator空间鼠标安装在开放性的Motoman HP3J机器人末端构成,其控制平台为RTlinux系统.从机器人为改造后具有开放性的V01弧焊机器人,其控制平台为Windows 2000系统和功能强大的PMAC(programmable multi-axis controller)运动控制卡,主从机器人之间通信是基于套接字的局域网TCP/IP协议.实现了主机器人对从机器人的实时控制.结果表明,开放式主从机器人控制系统运行平稳可靠. |
| 关键词: 遥控焊接 开放式 主从控制 跟踪精度 |
| DOI： |
| 分类号: |
| 基金项目:国家自然科学基金资助项目(50905043) |
|
| Open architecture master-slave robot remote welding controlsystem |
|
CHEN Hongtang, LI Haichao, GAO Hongming, WU Lin
|
|
National Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China
|
| Abstract: |
| Manual controlusing the master-slave robotre-mote welding system can not meet the requirements of remote welding,and so an open architecture master-slave robot remote welding system is developed.Motom an HP3J robot is the master robot,the end-effector of the Motoman HP3J robot is 6 degrees of free Space Navigator spaceball,the control plat form of the master robot is RTlinux operating system,and V01 robot is the slave ro-botwhich the control system consists of the Windows 2000 Oper-ating System and PMAC(programmable multi-axis controller)motion control card.The communication between the master ro-botand slave robot is LAN(local areanet work)TCP/IP communication protocol based on the Socket.The salve robot can bereal-time controlled by the master robot.The experimental results show that the open architecturemaster-slave robot remote welding system runs stably and reliably. |
| Key words: remote welding open architecture master-slave control tracking accuracy |
