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机器人监控系统是工业机器人应用的关键技术之一。论述了一种实用的针对喷涂机器人工作环境的上位机监控系统的设计和实现。该监控系统采用国际通用的OPC过程控制协议标准,实现了上位机与作业现场的机器人控制器之间的通信。而上位机客户端采用.NET平台进行开发,设计了面向喷涂工艺的支持多机器人的WinForm程序。整个设计满足了控制的需求,并且保证了系统的实时性。 相似文献
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传统的喷涂机器人采用人工示教的方式生成喷涂轨迹,该方法依赖工人经验,规划时间长,且不能产生最佳轨迹。为克服这些缺陷,提高喷涂机器人的喷涂质量与喷涂效率,文中通过对喷涂机器人喷涂过程建模、喷涂路径规划、喷涂过程仿真进行深入的研究与分析,建立了喷涂机器人离线轨迹规划与仿真系统整体框架。在此基础上,采用MFC和OpenGL开发了完整的离线轨迹规划与仿真系统,该系统能够针对不同的工件生成正确的轨迹,并能够进行三维可视化的仿真及效果显示。 相似文献
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《机器人技术与应用》1998,(3)
日本三菱重工业公司正在销售一种磁性爬壁喷涂机器人。该机器人可以吸附在20毫米以上厚度的建筑物上,磁力可达2000公斤左右,并能沿各种磁性结构,如钢筋墙壁、天花板,甚至潮湿的壁面运动,速度可达10米/分钟。 该机器人系统由一个具有吸附功能的磁性机动系统、喷涂装置、用于清理喷涂表面的预处理装置、个人计算机、遥控操纵机器人的操纵手柄和操纵装置组成。机器人长800 相似文献
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《电子制作.电脑维护与应用》2020,(16)
对喷涂机器人的研究已是国内外研究的热点,本文从国内外现阶段的研究形式为切入点引入对喷涂机器人的研究。并根据喷涂机器人具体的设计要求,设计并开发了一套完整的喷涂机器人控制系统。本系统采用的主板为PC104,运动卡采用的是ADT836。最终以系统的稳定性能,操作性能,和可靠性能对喷涂机械人的系统进行探讨和总结。 相似文献
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基于PMAC的机器人控制器调试系统的研制 总被引:3,自引:1,他引:2
以工控机IPC与可编程多轴控制器PMAC(Programmable Multi-Axis Comroller)相结合的开放式结构作为六自由度喷涂机器人控制系统硬件平台.用Visual C#.NET研制了六自由度喷涂机器人控制器调试系统.包括了速度及加速度参数设置,关节空间运动调试,直角坐标空间运动调试及I/0端口调试四个方面.通过实验验证,该调试系统能够对六自由度喷涂机器人控制器工作的实时性,可靠性,安全性等性能有一个总体的评估. 相似文献
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陈巧 《计算机测量与控制》2023,31(2):135-140
壁面吸附是爬壁机器人的基本功能之一,其吸附程度直接影响爬壁机器人的稳定性和移动速度;为此,设计了基于DSP技术的爬壁机器人吸附控制系统;选择爬壁机器人传感器装置,加设DSP数字信号处理器,设计爬壁机器人吸附控制器;在硬件结构的支持下,根据爬壁机器人的组成结构和工作原理,构建相应的数学模型;在该模型下,利用DSP技术计算爬壁机器人吸附力;通过爬壁机器人在壁面环境下的受力分析结果,确定爬壁机器人安全吸附条件;以吸附控制器作为执行机构,实现爬壁机器人的吸附控制;选择负压爬壁机器人作为测试样机,通过系统测试表明,在瓷砖、木板、玻璃三种壁面环境下,与两个对比系统相比,应用此次设计系统得出爬壁机器人吸附力的控制误差降低了2.04 N,倾覆风险系数降低了0.29,具有较好的吸附控制效果。 相似文献
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《机器人技术与应用》2008,(1):1-3
本刊记者:2007年12月ABB公司推出了新款高性能小型喷涂机器人,首先请您介绍一下该机器人与以往喷涂机器人技术相比有何差别,技术上实现了哪些突破?
王彤总经理(以下简称王):ABB新推出一小型喷涂机器人IRB52,从对客户角度来讲,第一,IRB52是ABB喷涂机器人中最小型的一款机器人,拥有ABB特有的集成工艺喷涂系统(IPS),这个系统由换色阀、空气与涂料调节阀等组成,确保高质量、高精度的工艺调节,最终实现高品质涂装,并显著减少涂料的消耗。 相似文献
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文章介绍了PMAC运动控制卡数据读取的几种方式,分析了各自的优缺点.以六自由度喷涂机器人控制系统为例,在Microsoft Visual C#开发环境中设计了基于DPRAM技术的数据实时采集系统,对喷涂机器人的电机状态信息进行实时监控.程序运行结果表明,该采集系统具有良好的实时性和安全性,能满足喷涂机器人对电机状态信息实时监控的要求. 相似文献
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This paper describes an application of a service climbing robot aimed to clean the glass wall of high‐rise buildings. The robot utilizes suction cups to adhere to the glass and moves with a translational mechanism to follow a predetermined path in cleaning the whole glass surface. By a flexible waist, the robot can adjust its posture. The robot has the ability to cross the window frame to clean different sections of the glass wall. A visual sensing system, composed of an omnidirectional CCD camera and two laser diodes, enables the robot to measure its orientation and the distance between the robot and the window frame. The real‐time applications and some experimental results demonstrate the effectiveness of the developed system. © 2003 Wiley Periodicals, Inc. 相似文献
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文章研发了一款适用于机器人教育教学的多功能、多用途、普适性的19自由度的小型仿人机器人,主要完成了该机器人的机械结构设计与控制系统构建工作[1]。所设计的机器人机械结构可靠性高、工艺性好、结构紧凑、样式新颖;所构建的机器人控制系统鲁棒性高、稳定性好、控制准确、反应迅速,圆满地实现了预期的设计任务。通过对优缺点的综合对比,得出组合式构型方案在功能性、实用性和稳定性等方面具有明显优势,有望通过后续软件系统的开发提高其运动效能,真正在青少年机器人教育中发挥重要作用[2]。 相似文献
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Climbing robots have been widely applied in many industries involving hard to access, dangerous, or hazardous environments to replace human workers. Climbing speed, payload capacity, the ability to overcome obstacles, and wall‐to‐wall transitioning are significant characteristics of climbing robots. Here, multilinked track wheel‐type climbing robots are proposed to enhance these characteristics. The robots have been developed for five years in collaboration with three universities: Seoul National University, Carnegie Mellon University, and Yeungnam University. Four types of robots are presented for different applications with different surface attachment methods and mechanisms: MultiTank for indoor sites, Flexible caterpillar robot (FCR) and Combot for heavy industrial sites, and MultiTrack for high‐rise buildings. The method of surface attachment is different for each robot and application, and the characteristics of the joints between links are designed as active or passive according to the requirement of a given robot. Conceptual design, practical design, and control issues of such climbing robot types are reported, and a proper choice of the attachment methods and joint type is essential for the successful multilink track wheel‐type climbing robot for different surface materials, robot size, and computational costs. 相似文献
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Yulin Zhang Jae H. Chung Steven A. Velinsky 《Journal of Intelligent and Robotic Systems》2003,36(3):301-314
This paper discusses dynamic modeling and robust control of a differentially steered mobile robot subject to wheel slip and external loads. Consideration of wheel slip and external loads is crucial for high load and/or high speed applications because they act as disturbances to the system. Furthermore, a tire model that adequately accounts for the tire/ground interaction is essential and Dugoff's pneumatic tire friction model is utilized herein in deriving the dynamic equations of motion of the mobile robot. It is shown that the dynamic equations satisfy the matching condition, and the variable structure control method is employed to design a tracking controller of the mobile robot. Numerical simulation shows the promise of the developed control algorithm. 相似文献
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《Advanced Robotics》2013,27(2):229-244
In this paper a learning method is described which enables a conventional industrial robot to accurately execute the teach-in path in the presence of dynamical effects and high speed. After training the system is capable of generating positional commands that in combination with the standard robot controller lead the robot along the desired trajectory. The mean path deviations are reduced to a factor of 20 for our test configuration. For low speed motion the learned controllers' accuracy is in the range of the resolution of the positional encoders. The learned controller does not depend on specific trajectories. It acts as a general controller that can be used for non-recurring tasks as well as for sensor-based planned paths. For repetitive control tasks accuracy can be even increased. Such improvements are caused by a three level structure estimating a simple process model, optimal a posteriori commands, and a suitable feedforward controller, the latter including neural networks for the representation of nonlinear behaviour. The learning system is demonstrated in experiments with a Manutec R2 industrial robot. After training with only two sample trajectories the learned control system is applied to other totally different paths which are executed with high precision as well. 相似文献
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论述竞赛用窄足爬坡机器人的整体结构以及机器人控制系统硬件部分设计和部分功能的软件实现,结合竞赛要求完成窄足爬坡机器人整体设计安装,经过多次试验调试,机器人达到了完成上坡任务的最佳状态,试验结果表明系统设计的合理性和可行性。 相似文献