| 基于虚拟主从同步控制的龙门式机器人系统设计与实现 |
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| 引用本文： | 舒志兵,张志远,周培. 基于虚拟主从同步控制的龙门式机器人系统设计与实现[J]. 机床与液压, 2016, 44(2): 159-161. DOI: 10.3969/j.issn.1001-3881.2016.02.049 |
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| 作者姓名： | 舒志兵 张志远 周培 |
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| 作者单位： | 南京工业大学自动化与电气工程学院,江苏南京,211816 |
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| 摘 要： | 介绍了虚拟主从同步控制在高精度龙门式机器人中的应用,描述了该系统的原理、结构。基于LTi高端伺服驱动器Servo C-Plus以及控制器Motion One,使用符合IEC61131-3标准并支持Code Sys V3.0平台的PLC编程语言,实现了双伺服电机的同步控制,大大提高了龙门式机器人的精度、速度。
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| 关 键 词： | 虚拟主从同步控制 伺服驱动 龙门式机器人 |
Design and Implementation of Gantry Robot System Based on Virtual Master slave Synchronization |
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| Abstract: | The application of virtual master?slave synchronization control in high precision gantry robot was introduced. The prin?ciple and structure of this system were described. Based on LTi high?end servo driver and MotionOne controller, using IEC61131?3 standard and PLC programming language supporting CodeSys V3?0 platform, the double servo motor synchronous control was achieved. So the accuracy of the gantry robots was improved. |
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| Keywords: | Virtual master-slave synchronization control Servo drive Gantry robot |
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