基于PLCopen的六轴工业机器人运动控制功能块设计

针对工业机器人控制系统的开放性要求,设计符合PLCopen规范的六轴工业机器人运动控制功能块。基于CodeSys软件开发环境,结合SMC_CNC库中数组、结构体和功能块,采用IEC61131-3编程语言开发了六轴工业机器人运动控制功能块,包含：坐标变换、正逆运动变换、直线与圆弧插补运动等；在此基础上,开发了一系列机器人运动控制指令和可视化编程界面。最后,以埃夫特ER50六轴工业机器人为实验对象,采用研制的机器人运动控制器,实施机器人编程控制实验,结果表明所开发的机器人运动控制功能块及其指令达到了设计要求。

Design of Motion Control Function Blocks for six-axis Industrial Robot Based on PLCopen

Aiming at the open requirements of industrial robot control systems, according to PLCopen specification, motion control function blocks are designed for six-axis industrial robots. Based on CodeSys software development environment, combined with the arrays, structures and function blocks in the SMC_CNC library, a few of motion control function blocks are developed using IEC61131-3 programming languages for a six-axis industrial robot, including coordinate transformation, forward and reverse kinematics transformation, linear and circular interpolation motion, etc. On this basis, a series of robotic motion control commands and visual programming interfaces are developed. Finally, taking the Eroft ER50 six-axis industrial robot as experimental objects, and adopting to the developed robotic motion controller, robotic programming control experiments are implemented. The results show that the developed motion control function blocks and commands met the design requirements.