基于机器人通用变位器的运动控制软件的实现

随着工业机器人的应用越来越广泛，特别是汽车行业中常常需要带自由度的变位器，它们的运动一般由机器人来控制。本文针对工业机器人工作站用的通用变位器，阐述了变位器运动控制器系统的硬件结构，并且在此基础上提出了通用变位器的运动控制软件的框架和具体实现，为今后走向产品化打下了基础。

Implementation of motion controller software based on robotic general positioner

With the wide use of industrial robots ,especially in automobile industry, there will be great need to have positioner motion controller with degrees of freedom whose motion could be always controlled by robots.This article ,taking the industrial robotic general positioner as the subject,demonstrate the hardware architecture of positioner motion controller and then detailedly analyze the structure and the implementation of motion controller software based on robotic general positioner , which provide the reference to its production of the future .