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陈洪堂, 李海超, 高洪明, 吴林. 应用于遥控焊接的开放式主从机器人控制系统[J]. 焊接学报, 2011, (2): 49-52.
引用本文: 陈洪堂, 李海超, 高洪明, 吴林. 应用于遥控焊接的开放式主从机器人控制系统[J]. 焊接学报, 2011, (2): 49-52.
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CHEN Hongtang, LI Haichao, GAO Hongming, WU Lin. Open architecture master-slave robot remote welding controlsystem[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2011, (2): 49-52.
Citation: CHEN Hongtang, LI Haichao, GAO Hongming, WU Lin. Open architecture master-slave robot remote welding controlsystem[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2011, (2): 49-52.
shu

应用于遥控焊接的开放式主从机器人控制系统

Open architecture master-slave robot remote welding controlsystem

    摘要
  • 摘要: 手动控制的主从机器人系统不能满足遥控焊接的要求,因此开发了一套开放式主从机器人系统.主机器人是由6自由度的SpaceNavigator空间鼠标安装在开放性的Motoman HP3J机器人末端构成,其控制平台为RTlinux系统.从机器人为改造后具有开放性的V01弧焊机器人,其控制平台为Windows 2000系统和功能强大的PMAC(programmable multi-axis controller)运动控制卡,主从机器人之间通信是基于套接字的局域网TCP/IP协议.实现了主机器人对从机器人的实时控制.结果表明,开放式主从机器人控制系统运行平稳可靠.

     

    Abstract: Manual controlusing the master-slave robotre-mote welding system can not meet the requirements of remote welding,and so an open architecture master-slave robot remote welding system is developed.Motom an HP3J robot is the master robot,the end-effector of the Motoman HP3J robot is 6 degrees of free Space Navigator spaceball,the control plat form of the master robot is RTlinux operating system,and V01 robot is the slave ro-botwhich the control system consists of the Windows 2000 Oper-ating System and PMAC(programmable multi-axis controller)motion control card.The communication between the master ro-botand slave robot is LAN(local areanet work)TCP/IP communication protocol based on the Socket.The salve robot can bereal-time controlled by the master robot.The experimental results show that the open architecturemaster-slave robot remote welding system runs stably and reliably.

     

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