基于软PLC的机械手系统设计

种类繁多的小型工业机械手需要多种控制系统,为降低成本开发一种软PLC的机械手控制系统。为设计多类型搬运机械手的控制系统,从工艺入手设计软PLC系统整体控制方案并搭建软PLC高速硬件平台和程序编译运行系统,利用上位机程序编译平台、软PLC运行环境和一阶机械手闭环控制算法等模块构建系统,最后利用自锁程序编译转换和往复式搬运实验验证系统。实验结果表明软PLC系统可以完成0.1s高速稳定的往复运动控制。结果证明本系统可以被应用到各种机械手运动控制系统中。

Design of Mechanical Hand System Based on Soft PLC

A variety of small industrial manipulators need a variety of control systems to develop a soft PLC manipulator control system to reduce costs. In order to design the control system of multi-type handling manipulator, the whole control scheme of soft PLC system is designed from the process and the soft PLC high-speed hardware platform and program compiler running system are built. The system is constructed by using the program compiler platform, the soft PLC running environment and the first order manipulator closed loop control algorithm. Finally, the self-locking program compiling and transforming and the reciprocating handling experiment verification system are used. The experimental results show that the soft PLC system can achieve 0.1 s high-speed and stable reciprocating motion control. The results show that the system can be applied to all kinds of manipulator motion control system.