摘要
设计了一种基于嵌入式软PLC的搬运机器人控制系统,利用激光雷达探测物体的形状和方位,伺服电机驱动丝杆螺母机械手抓取物体,压力传感器检测机械手抓取时作用在物体上的压力,四轮全向移动底盘实现机器人在工作区域内各向灵活移动。在软PLC中设置两个独立运行的任务,分别执行主程序和数据处理量较大的物体探测子程序,系统的运行效率和实时性得到保证。实验表明,该控制系统能使机器人准确探测并运送待搬运的物体,多任务的软PLC系统运行稳定。
The transport robot control system which was based on embedded soft PLC was designed. Laser radaris used for detecting the position and appearance of the target object, a servo motor drives the screw to make machine hand grab the object, and pressure sensor detects the force when the machine hand grabs the object, and the four-wheeled omnidirectional chassis makes the robot move neatly in the working area Two tasks are set in the soft PLC to run the main program and the object detecting program which has to process massive data, efficiency and real-time of the system are guaranteed. The experiment shows that the control system makes the robot detecte and transporte object accurately, and the multi-task soft PLC system runs stably.
出处
《机械设计与制造》
北大核心
2014年第12期183-186,共4页
Machinery Design & Manufacture
基金
中央高校基本科研业务专项资金(2682014CX034)
关键词
搬运机器人
激光雷达
物体探测
压力检测
Embedded Soft PLC
Transport Robot
Laser Radar
Object Detecting
Pressure Sensing
