码垛机器人控制系统的设计与实现

介绍了混联机构的搬运码垛机器人控制系统的设计与实现方法,根据工作现场的实际需求,对离线码垛过程进行了研究,通过码垛关键参数的输入和码垛空间判断,建立离线编程的基础,给出了机器人码垛的路径规划,硬件控制系统采用工业PC（IPC）作为主计算机,利用分布式二级控制结构实现系统的监控和作业管理,协调各关节的运动,准确地跟踪轨迹规划。软件系统运用了PLC来控制机械人手爪且自主开发码垛机器人控制软件,通过码垛关键参数的输入及示教盒控制方式,经实际使用结果证明控制系统的有效性与合理性。

Palletizing Robot Control System Design and Implementation

This paper introduced the mixed stack of bodies moving robot control system design and implementation methods, according to the work site of the actual demand, the ofltine-stacking process was studied by stacking the key parameters of inputting and stacking space Judgment, the basis for the establishment of off-line programming is a robot stack the path pkmning, control system using industrial PC （IPC） as the main computer, the use of distributed control structure to achieve the second system of monitoring and operations management, coordination of Joint movement, accurately track trajectory planning. Software systems use the PLC programming to control robot gripper and independent development palletizing robot control software, by stacking the key parameters of the inputting and teaching-playback oper- ations, the actual results prove the effectiveness and reason of control systems..