التفاصيل البيبلوغرافية
| العنوان: |
基于 TwinCAT3 的五轴机器人控制系统设计. (Chinese) |
| Alternate Title: |
Design of Five-Axis Robot Control System Based on TwinCAT3. (English) |
| المؤلفون: |
于伶, 刘志恒, 徐昌军, 郭万金 |
| المصدر: |
Machine Tool & Hydraulics; Nov2024, Vol. 52 Issue 21, p52-56, 5p |
| مصطلحات موضوعية: |
ROBOT control systems, PROGRAMMING languages, KINEMATICS, ROBOTS, ALGORITHMS |
| Abstract (English): |
Aiming at the real-time and openness high requirements of five-axis hybrid robot control, a control system based on EtherCAT fieldbus and TwinCAT3 platform was designed. The D-H model was established according to the mechanical structure of the robot, the forward and inverse kinematics algorithm was solved, and the algorithm was realized and packaged in C# programming language. The "Setpoint Generator" method was used to control the movement of each axis in real time. It can realize complex motion control functions more flexibly and effectively, and can be extended to a wider range of occasions. The functions of robot teaching, parameter setting and motion control were realized by HMI. The test results show that the control system is stable, reliable, real-time, easy to expand, and has a wide application prospect. [ABSTRACT FROM AUTHOR] |
| Abstract (Chinese): |
针对五轴混联机器人对控制的实时性、开放性要求高的特点, 设计以EtherCAT现场总线为基础、基于Twin-CAT3平台的控制系统. 根据机器人的机械结构建立D-H模型, 求解运动学正逆解算法, 以C#编程语言进行算法的实现与封装. 使用"设定值发生器"方法实时控制各轴运动, 更加灵活有效地实现复杂运动控制功能, 并可扩展应用于更广泛的场合. 通过人机界面实现了机器人示教、参数设置、运动控制等功能. 测试结果表明:该控制系统稳定可靠, 实时性强, 易扩展, 具有广泛的应用前景. [ABSTRACT FROM AUTHOR] |
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| قاعدة البيانات: |
Complementary Index |