CN103786155B - Six programming of axle serial manipulator movement locus and control methods - Google Patents
Six programming of axle serial manipulator movement locus and control methods Download PDFInfo
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- CN103786155B CN103786155B CN201410027971.5A CN201410027971A CN103786155B CN 103786155 B CN103786155 B CN 103786155B CN 201410027971 A CN201410027971 A CN 201410027971A CN 103786155 B CN103786155 B CN 103786155B
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Abstract
For problems such as solution prior art six axle serial manipulator movement locus is programmed and control method exists the hand-held teaching machine of needs, unstable properties, trivial operations and cost are higher, the present invention proposes a kind of six programming of axle serial manipulator movement locus and control methods, serial ports control module is increased at industrial computer PC, in six axle serial manipulator control systems, increase command execution module, and adopt RS232 Serial Port Line to be connected with robot control system by PC.The Advantageous Effects of the programming of the present invention six axle serial manipulator movement locus and control method to adopt PC to work out robot motion's TRAJECTORY CONTROL program, and pass through the movement locus of programme-control machine people, or controlled in real time by the movement locus of PC to robot, and, method is simply effective, reliable in function, adds the stability of robot control system, can reduce the production cost about 10% of robot control system.
Description
Technical field
The present invention relates to the programming of a kind of robot motion's track and control technology, be related specifically to a kind of six programming of axle serial manipulator movement locus and control methods.
Background technology
Six axle serial manipulator are owing to having the full free degree, and operating characteristics is well widely used in Machine Manufacturing Technology neighborhood.The programming of prior art six axle serial manipulator movement locus and control method mostly adopt teach programming method to program, and then, adopt the movement locus of the programme-control six axle serial manipulator woven.Teach programming refers to that the hand-held teaching machine of manual manipulation controls six axle series connection industrial robots and runs according to the track subscribed, and meanwhile, the parameter according to teaching machine display hand-held in running programs.Described hand-held teaching machine is measured the various parts such as cable formed by industrial LCD, various press button, display cable, power supply, IO.Because hand-held teaching machine can move in operation, add the unstability of control system everywhere, and teach programming adds numerous and diverse degree and the production cost of operation.Obviously, the programming of prior art six axle serial manipulator movement locus and control method also exist and need the problems such as hand-held teaching machine, unstable properties, trivial operations and cost are higher.
Summary of the invention
For problems such as solution prior art six axle serial manipulator movement locus is programmed and control method exists the hand-held teaching machine of needs, unstable properties, trivial operations and cost are higher, the present invention proposes a kind of six programming of axle serial manipulator movement locus and control methods.The programming of the present invention six axle serial manipulator movement locus and control method, increase serial ports control module at industrial computer PC, in six axle serial manipulator control systems, increase command execution module, and adopt RS232 Serial Port Line to be connected with robot control system by PC, wherein
Serial ports control module comprises packing of orders unit and data transmission unit, packing of orders unit can be combined into director data by needing the movement locus of the robot controlled, and director data can be passed through RS232 Serial Port Transmission to robot control system by data transmission unit;
Command execution module can be resolved director data, is converted into robot run time version, and is controlled by the movement locus of robot control system to robot.
Further, the programming of the present invention six axle serial manipulator movement locus and control method, adopt the program of VisiualC++ language compilation serial ports control module.
Further, the present invention six axle serial manipulator movement locus programming and control method, serial ports control module can also by standard G code program by Serial Port Transmission to robot control system.
The Advantageous Effects of the programming of the present invention six axle serial manipulator movement locus and control method to adopt PC to work out robot motion's TRAJECTORY CONTROL program, and pass through the movement locus of programme-control machine people, or controlled in real time by the movement locus of PC to robot, and, method is simply effective, reliable in function, adds the stability of robot control system, can reduce the production cost about 10% of robot control system.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of the programming of the present invention six axle serial manipulator movement locus and control method.
Below in conjunction with the drawings and specific embodiments, the programming of the present invention six axle serial manipulator movement locus and control method are further described.
Detailed description of the invention
Accompanying drawing 1 is the structural representation of the programming of the present invention six axle serial manipulator movement locus and control method, as seen from the figure, the programming of the present invention six axle serial manipulator movement locus and control method, serial ports control module is increased in industrial computer PC side, command execution module is increased in six axle serial manipulator control systems, and adopt RS232 Serial Port Line to be connected with robot control system by PC, wherein, serial ports control module comprises packing of orders unit and data transmission unit, packing of orders unit can be combined into director data by needing the movement locus of the robot controlled, director data can be passed through RS232 Serial Port Transmission to robot control system by data transmission unit, command execution module can be resolved director data, is converted into robot run time version, and is controlled by the movement locus of robot control system to robot.For convenience of programming and making it simply applicable, the programming of the present invention six axle serial manipulator movement locus and control method, adopt the program of VisiualC++ language compilation serial ports control module, and, serial ports control module can also by standard G code program by Serial Port Transmission to robot control system, serial ports control module interface function is enriched, is easy to expansion.Obviously, the present invention six axle serial manipulator movement locus programming with control method can when PC is connected with robot input control order, robot control system receives instruction and controls robot, thus realizes the real-time control of robot motion's track.Equally, also (i.e. off-line state) instruction can be write when PC is not connected with robot, after writing, by command to robot control system, then by control system, robot motion's track be controlled.The programming of the present invention six axle serial manipulator movement locus and control method do not adopt hand-held teaching machine, add the stability of robot control system, reduce trivial operations degree, and can reduce the production cost about 10% of robot control system.
Obviously, the Advantageous Effects of the programming of the present invention six axle serial manipulator movement locus and control method to adopt PC to work out robot motion's TRAJECTORY CONTROL program, and pass through the movement locus of programme-control machine people, or controlled in real time by the movement locus of PC robot, further, method is simply effective, reliable in function, add the stability of robot control system, the production cost about 10% of robot control system can be reduced.
Claims (2)
1. an axle serial manipulator movement locus programming and control method, it is characterized in that: in as the PC of industrial computer, increase serial ports control module, command execution module is increased in six axle serial manipulator control systems, and adopt RS232 Serial Port Line to be connected with robot control system by PC, wherein
Serial ports control module comprises packing of orders unit and data transmission unit, packing of orders unit can be combined into director data by needing the movement locus of the robot controlled, and director data can be passed through RS232 Serial Port Transmission to robot control system by data transmission unit; Described serial ports control module can also by standard G code program by Serial Port Transmission to robot control system; For making serial ports control module interface function enrich, be easy to expansion;
Command execution module can be resolved director data, is converted into robot run time version, and is controlled by the movement locus of robot control system to robot.
2. six axle serial manipulator movement locus are programmed and control methods according to claim 1, it is characterized in that: the program adopting VisiualC++ language compilation serial ports control module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410027971.5A CN103786155B (en) | 2014-01-21 | 2014-01-21 | Six programming of axle serial manipulator movement locus and control methods |
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| CN201410027971.5A CN103786155B (en) | 2014-01-21 | 2014-01-21 | Six programming of axle serial manipulator movement locus and control methods |
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| CN103786155A CN103786155A (en) | 2014-05-14 |
| CN103786155B true CN103786155B (en) | 2016-02-17 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104227716B (en) * | 2014-07-25 | 2016-02-24 | 太仓中科信息技术研究院 | A kind of cameras people real-time control method based on remote operating |
| CN104552297B (en) * | 2015-01-15 | 2016-01-27 | 合肥工业大学 | A kind of control system of six degree of freedom serial manipulator and control method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537622A (en) * | 2009-04-24 | 2009-09-23 | 东莞艾尔发自动化机械有限公司 | Control method and full-servo control system for operating multi-axis mechanical arm |
| CN102658549A (en) * | 2012-05-10 | 2012-09-12 | 上海理工大学 | Six-axis industrial robot control system with PLC (programmable logic control) function |
| CN103419199A (en) * | 2013-07-09 | 2013-12-04 | 天津大学 | Teaching system based on open type welding robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5389865A (en) * | 1992-12-02 | 1995-02-14 | Cybernet Systems Corporation | Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor |
| JP2000308985A (en) * | 1999-04-26 | 2000-11-07 | Japan Science & Technology Corp | Robot teaching method and teaching system |
| CN101398687A (en) * | 2008-10-10 | 2009-04-01 | 北京科技大学 | Information treating platform of small-sized both feet robot |
| CN102126220A (en) * | 2010-01-12 | 2011-07-20 | 佳木斯大学 | Control system for six-degree-of-freedom mechanical arm of humanoid robot based on field bus |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101537622A (en) * | 2009-04-24 | 2009-09-23 | 东莞艾尔发自动化机械有限公司 | Control method and full-servo control system for operating multi-axis mechanical arm |
| CN102658549A (en) * | 2012-05-10 | 2012-09-12 | 上海理工大学 | Six-axis industrial robot control system with PLC (programmable logic control) function |
| CN103419199A (en) * | 2013-07-09 | 2013-12-04 | 天津大学 | Teaching system based on open type welding robot |
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Address after: Shiling Town Longquanyi stone District of Chengdu city Sichuan province 610000 Ling Xia Jie Patentee after: Chengdu Weida Guangtai CNC technology Limited by Share Ltd Address before: Shiling Town Longquanyi stone District of Chengdu city Sichuan province 610000 Ling Xia Jie Patentee before: Chengdu GREAT Industrial CO., Ltd. |
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