| 图书上下架机器人机器手控制器设计与实现 |
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| 引用本文： | 杨志成,张景胜,张利霞.图书上下架机器人机器手控制器设计与实现[J].现代制造工程,2011(4). |
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| 作者姓名： | 杨志成 张景胜 张利霞 |
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| 作者单位： | 1. 北京联合大学生物化学工程学院,北京,100023
2. 北京联合大学实训基地,北京,100101 |
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| 摘 要： | 论述了一种用于图书上下架机器手的控制系统.硬件采用PLC结合NIOS控制器的双级控制,伺服控制器之间采用CAN总线通讯.软件以PLC梯形图控制直线运动为主程序,以NIOS采集光电编码器反馈机器人关节位置,结合模糊神经网络控制伺服电动机旋转运动为辅助程序.实验证明,这种机器人控制系统运行可靠,达到了实际应用的要求.
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| 关 键 词： | 图书上下架机器人 PLC CAN 机器手 模糊控制器 |
Design and realization of the library robot control system |
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| YANG Zhi-cheng,ZHANG Jing-sheng,ZHANG Li-xia.Design and realization of the library robot control system[J].Modern Manufacturing Engineering,2011(4). |
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| Authors: | YANG Zhi-cheng ZHANG Jing-sheng ZHANG Li-xia |
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| Affiliation: | YANG Zhi-cheng1,ZHANG Jing-sheng1,ZHANG Li-xia2(1 Biochemical Engineering College of Beijing Union University,Beijing 100023,China,2 Training Base China Beijing United University,Beijing 100101,China) |
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| Abstract: | Presents a robot control for the library system.NIOS combined with PLC control hardware dual-level control,servo controller using CAN bus communication between.Software used to control the linear movement is the main PLC ladder program to collect optical encoder feedback NIOS robot joint position,combined with fuzzy neural network control for the auxiliary servo motor rotation procedure.Experiments show that the robot control system is reliable,to the actual application. |
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| Keywords: | Library robot PLC CAN machine hand fuzzy controller |
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