基于PLC的六轴机械手控制
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摘要
设计分析了六轴机械手的基本结构,在此基础上以第二关节为例进行了参数的分析、计算和校对,并结合实际给出了六轴机械手的PLC控制,为了更能灵活地监控机械手,设计了人机交互界面,实践证明,六轴机械手的PLC控制灵活、方便,人机界面友好。具有一定的应用价值。
Design analyzes the basic structure of the six-axis manipulator,on this basis,the parameters of the second joint are analyzed, calculated and proofed. The PLC control of the six-axis manipulator is given.In order to monitor the manipulator more flexibly,the interactive interface is designed. It has been proved that the PLC control of the six-axis manipulator is flexible,convenient and human-machine interface friendly. It has certain application value.
Design analyzes the basic structure of the six-axis manipulator,on this basis,the parameters of the second joint are analyzed, calculated and proofed. The PLC control of the six-axis manipulator is given.In order to monitor the manipulator more flexibly,the interactive interface is designed. It has been proved that the PLC control of the six-axis manipulator is flexible,convenient and human-machine interface friendly. It has certain application value.
引文
[1]赵桂清,单鹏.基于S7-200机械手的控制[J].煤矿机械,2011,32(10):150-152.
[2]黄伟玲.基于PLC气动搬运机械手设计[J].煤矿机械,2009,30(10):20-22.
[3]谢宏,杨鹏,陈海滨.遗传优化模糊PID融合算法的5自由度机械手控制[J].电子测量与仪器学报,2015,29(1):21-30.
[4]王勇,刘树林,张润忤.管柱移运液压机械手的PID控制系统研究[J].工业控制计算机,2013,26(11):95-96.
[5]郭忠,陈义保.改进的模糊滑模控制在机械手上的仿真研究(自然科学与工程版)[J].烟台大学学报,2013,26(3):194-199.
[6]田颖,孙凌宇,张明路,等.基于模糊PID的悬架移动机械手研究与仿真[J].计算机仿真,2014,31(3):406-409.
[2]黄伟玲.基于PLC气动搬运机械手设计[J].煤矿机械,2009,30(10):20-22.
[3]谢宏,杨鹏,陈海滨.遗传优化模糊PID融合算法的5自由度机械手控制[J].电子测量与仪器学报,2015,29(1):21-30.
[4]王勇,刘树林,张润忤.管柱移运液压机械手的PID控制系统研究[J].工业控制计算机,2013,26(11):95-96.
[5]郭忠,陈义保.改进的模糊滑模控制在机械手上的仿真研究(自然科学与工程版)[J].烟台大学学报,2013,26(3):194-199.
[6]田颖,孙凌宇,张明路,等.基于模糊PID的悬架移动机械手研究与仿真[J].计算机仿真,2014,31(3):406-409.