| A Study on Control System of Robot Working Unit for Automatically Welding Nipples onto Header of Boiler |
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| 引用本文： | 陶谦,于树锋,姜山,曹佩军.A Study on Control System of Robot Working Unit for Automatically Welding Nipples onto Header of Boiler[J].哈尔滨工业大学学报(英文版),1996(2). |
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| 作者姓名： | 陶谦 于树锋 姜山 曹佩军 |
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| 作者单位： | Robot Research Institute，Harbin Institute of Technology，Harbin，150001，China |
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| 摘 要： | ＡＳｔｕｄｙｏｎＣｏｎｔｒｏｌＳｙｓｔｅｍｏｆＲｏｂｏｔＷｏｒｋｉｎｇＵｎｉｔｆｏｒＡｕｔｏｍａｔｉｃａｌｌｙＷｅｌｄｉｎｇＮｉｐｐｌｅｓｏｎｔｏＨｅａｄｅｒｏｆＢｏｉｌｅｒ￥ＴＡＯＱｉａｎ；ＹＵＳｈｕｆｅｎｇ；ＪＩＡＮＧＳｈａｎ；ＣＡＯＰｅｉｊｕｎ...
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A Study on Control System of Robot Working Unit for Automatically Welding Nipples onto Header of Boiler |
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| TAO Qian, YU Shufeng, JIANG Shan,CAO Peijun.A Study on Control System of Robot Working Unit for Automatically Welding Nipples onto Header of Boiler[J].Journal of Harbin Institute of Technology,1996(2). |
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| Authors: | TAO Qian YU Shufeng JIANG Shan CAO Peijun |
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| Abstract: | The difficult problem of automatically welding nipples onto the header is first analyzed in this paper, and then the overall structure and operating principle of the robot working unit are introduced. The robot and the measuring device are located by employing the traveling lorry, and this unit enables the robot to adjust the tracks according to the errors received from the measuring device, and then the nipples are welded properly. This paper emphases on the development of the master-slave control system, in which the prograrmmable Logic Controller (PLC) is used as the master computer. |
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| Keywords: | ss:Header nipple PLC robot control welding working unit master-slave control |
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