开放式点焊机器人控制系统设计

为解决封闭式控制系统带来的弊端,结合现场焊接机器人技术要求,设计了开放式点焊机器人控制系统,提供了分层式体系与结构化功能模块.多轴运动控制器(PMAC)用于实现机器人运动学算法,伺服放大器采取速度模式控制方式,位置环算法由PMAC完成,速度环算法在伺服放大器中完成,并实现了离线编程与三维仿真.研究结果表明:分层式系统结...

Design of an open spot welding robot control system

To resolve the abuse brought by close control system,and to consider the technical requirements of robot spot welding,an open spot welding robot control system was designed,the structured hierarchical system and functional modules were provided.Programmable multi-axies controller（PMAC） acted as motion controller,in which robot kinematics arithmetic and servo arithmetic were completed.Servo amplifier adopted the speed control mode.The position loop arithmetic was completed in PMAC,and the speed loop arithmetic was implemented in servo amplifier.The off-line programming and the three-dimensional simulation were realized.The experimental results show that this structured hierarchical system greatly improves the system independence and flexibility of software and hardware,and the control mode adopted in this system enhances speed loop rigidity and anti-jamming capability.The off-line programming improves the weld quality and work efficiency,and this design meets the high-speed and accuracy requirements of the field applications.