| 堆垛机器人控制系统的研究 |
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| 引用本文： | 杨年法.堆垛机器人控制系统的研究[J].江苏大学学报(自然科学版),1998(6). |
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| 作者姓名： | 杨年法 |
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| 作者单位： | 江苏理工大学电气系 |
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| 摘 要： | 介绍一种用于烟草行业中的物料系统堆垛机器人，采用工业控制机作为主计算机实现系统的监控和作业管理，单片机作为位置伺服控制，完成ＰＩＤ控制算法，由主计算机协调各关节的运动，准确地跟踪轨迹规划，使速度达到完全可控．
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| 关 键 词： | 机器人 监控系统 算法 数学模型 |
Research on the Control System of Stacking Robots |
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| Yang Nianfa.Research on the Control System of Stacking Robots[J].Journal of Jiangsu University:Natural Science Edition,1998(6). |
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| Authors: | Yang Nianfa |
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| Institution: | Yang Nianfa |
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| Abstract: | This paper introduces a robot for stacking materials in tobacco industry, which uses a control computer as its main computer to exercise supervision over the system and the management of its operation. Being a servo positioning controller, the single chip computer in this system carries out PID control computation and the main computer coordinates the movements of all robot joints, which enable the system to follow the trace program precisely and to control the robot speed completely. |
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