| 徐达勇， 陈海卫.四轴机器人控制系统设计[J].轻工机械,2019,37(3):7-11 |
| 四轴机器人控制系统设计 |
| Design of Control System for Four Axis Robot |
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| DOI：10.3969/j.issn.1005 2895.2019.03.002 |
| 中文关键词: 四轴机器人 雷赛运动控制器 改良D H法 直线插补算法 人机交互界面四轴机器人 雷赛运动控制器 改良D H法 直线插补算法 人机交互界面 |
| 英文关键词:four axis robot Leashine motion controller modified D H method linear interpolation algorithm human computer interaction interface |
| 基金项目: |
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| 中文摘要: |
| 针对四轴机器人运动控制问题，设计开发了一套基于雷赛运动控制器和触摸屏的具有人机交互功能的四轴机器人运动控制
系统。首先采用改良D H法建立了机器人的运动学模型，并对机器人进行运动学分析，求得了机器人的正逆运动学的解。然后分析划分了机器人控制系统的功能
，在运动控制器上开发了相应的参数设置模块、状态监测模块、文件管理模块和运动控制模块，并在触摸屏上设计了人机交互界面。最后通过分析机器人在空间
的直线运动，设计了机器人直线插补算法，并在运动控制器上开发了相应的插补运动模块。经实验验证，控制系统能够有效地对四轴机器人进行运动控制，且运
动过程平稳可靠。控制系统解决了四轴机器人的运动控制问题。 |
| 英文摘要: |
| A four axis robot motion control system with human computer interaction function based on Leashine motion controller and touch screen was
designed and developed for the motion control problem of four axis robot. Firstly，the kinematics model of the robot was established by the modified D H method，and the kinematics
analysis of the robot was carried out to obtain the solution of the forward and inverse kinematics of the robot. Then the function of the robot control system was analyzed. The
corresponding parameter setting module，status monitoring module，file management module and motion control module were developed on the motion controller，and the
human computer interaction interface was designed on the touch screen. Finally，by analyzing the linear motion of the robot in space，the linear interpolation algorithm of the robot was
designed，and the corresponding interpolation motion module was developed on the motion controller. The experimental verification shows that the control system can effectively control
the motion of the four axis robot，and the motion process is stable and reliable. The control system solves the motion control problem of four axis robot. |
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