| 开放式结构平台上的SIASUN-06B机器人控制系统的研究 |
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| 引用本文： | 沈跃,刘慧.开放式结构平台上的SIASUN-06B机器人控制系统的研究[J].组合机床与自动化加工技术,2004,10(5):101-103. |
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| 作者姓名： | 沈跃 刘慧 |
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| 作者单位： | 江苏大学,江苏,镇江,212013 |
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| 摘 要： | 文章对SIASUN-06B机器人控制器进行深入的研究,以PMAC(Programmable Multi-Axis Controller)代替原有控制器,将其改造成为具有开放式结构的控制器.改造后的控制器基于嵌入式PC/104工控机和Windows操作系统,突破了传统工业机器人封闭式结构,并具有良好的可拓展性,在功能上既具备了工业机器人控制器的基本特性,同时又有一个良好的机器人控制算法试验平台.改造方法已经在实验室SIASUN-06B机器人上得到了验证.
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| 关 键 词： | 机器人控制器 嵌入式PC/104 开放式结构 模块化结构 |
| 文章编号： | 1001-2265(2004)05-0101-03 |
| 修稿时间： | 2003年9月30日 |
Research of SIASUN-06B robot control system based on open architecture |
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| SHEN Yue,LIU Hui.Research of SIASUN-06B robot control system based on open architecture[J].Modular Machine Tool & Automatic Manufacturing Technique,2004,10(5):101-103. |
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| Authors: | SHEN Yue LIU Hui |
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| Affiliation: | SHEN Yue LIU Hui |
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| Abstract: | This paper deeply researches on SIASUN-06B controller. On the basis of it the original controller is retrofitted to be an open architecture one with SIASUN-06B controller instead by PMAC(Programmable Multi-Axis Controller) .The retrofitted controller is based upon embedded PC/104 and WINDOWS operating system. It breaks through the close architecture of traditional industrial robot and has favorable expandability. It not only possesses the fundamental characteristics of common industrial robot controller, but also is an approved control algorithm experimental platform of robot. All method presented in this paper are verified with experimental SIASUN-06B robot in our lab. |
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| Keywords: | PMAC |
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