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文章对SIASUN -0 6B机器人控制器进行深入的研究 ,以PMAC(ProgrammableMulti-AxisController)代替原有控制器 ,将其改造成为具有开放式结构的控制器。改造后的控制器基于嵌入式PC/10 4工控机和Windows操作系统 ,突破了传统工业机器人封闭式结构 ,并具有良好的可拓展性 ,在功能上既具备了工业机器人控制器的基本特性 ,同时又有一个良好的机器人控制算法试验平台。改造方法已经在实验室SIASUN -0 6B机器人上得到了验证。
In this paper, SIASUN-06B robot controller is deeply researched, and PMAC (Programmable Multi-Axis Controller) is used to replace the original controller and transform it into an open architecture controller. Based on the embedded PC / 104 industrial computer and Windows operating system, the modified controller has broken through the closed structure of traditional industrial robots and has good scalability. It not only possesses the basic characteristics of the industrial robot controller in function, At the same time there is a good experimental platform for robot control algorithms. Retrofit methods have been validated on the laboratory SIASUN-06B robot.