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中文摘要：
针对现代工业对机器人控制系统开放性和通用性的要求,基于VC＋＋设计了一种直角坐标机器人控制系统.整个系统以“工控机＋运动控制卡”为核心,采用GALILDMC-1842运动控制卡、伺服电机驱动器以及直角坐标机器人构成一个开放式结构.控制系统主要包括硬件设计、软件设计和轨迹规划,实现了单轴点动、连续运动、回零运动以及多轴直线插补、圆弧插补等功能.机器人根据末端执行机构的不同,可完成不同作业任务,具有良好的开放性和扩展性.本文执行机构采用雕刻机专用电主轴,根据设定的雕刻任务,编写轨迹程序,成功实现了雕刻任务.实验结果表明,所设计的机器人控制系统较好的完成了轨迹规划任务,具有很好的性能和应用前景.
英文摘要：
Aiming at the demand of the openness and universality of a robot control system in modern industry,an orthogonal coordinate robot control system is designed.The core part of the system is the IPC and motioncont-rolcard and an openarchitecture is constituted of the GAGIL DMC-1842 motion control card,servo drivers and the orthogonal coordinate robot.The control system is composed of hardware design,software design andtrajecto-ryplanning.The single-axis point-to-point,continuous,back to zero motion are implemented in the system.More-over,the multi-axis line and arc interpolation are alsodeveloped.Different functions can beachieved withdiffere-nt robotic end effectors,therefore,goodopenness and extensibility are showed in the system.A motorized spindle of engravingmachine is used forthe robot control system,and engraving task can be completed by trajectory planning program.The experiment results show that the proposed robot control system has a good performanceandpracticaluse prospects.
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