摘要
工业机器人传统的编程与控制方式受距离空间限制,不便对机器人进行远程控制、控制不灵活。针对工业机器人的远程控制进行了研究,设计了基于ABB工业机器人的遥操作控制系统。在本地上位机上设计操作者界面,实现本地和远程程序的变量同步,以TCP/IP协议与ABB机器人控制柜通信,直接通过以太网对远程端的机器人进行控制和管理。在仿真和实验中,通过分析机器人对上位机给定轨迹的跟踪效果验证了系统的有效性。仿真和实验结果表明该系统能对远程ABB机器人进行有效的控制,可以让机器人代替人在恶劣的工作环境中作业,并提高工业生产效率。
The traditional programming and control of industrial robot is limited by distance and space. Therefore,it is inconvenient to perform remote control and inflexible control. This paper designed a teleoperation control system based on ABB industrial robot. It designed the operator interface on the local host computer to achieve synchronization of the local variables and remote variables in the programs. The local host computer communicated with the ABB robot control cabinet by TCP/IP protocol. It controlled and managed the remote robot directly via Ethernet. In the simulation and experiment,it verified the effectiveness of the system by analyzing the tracking effect of the robot on the given trajectory of the host computer. Simulation and experimental results show that this system can control remote ABB robot effectively to replace people in harsh environments and increase industrial productivity.
作者
贺文人
刘霞
He Wenren;Liu Xia(School of Electrical&Electronic Information,Xihua University,Chengdu 610039,China)
出处
《计算机应用研究》
CSCD
北大核心
2019年第12期3785-3787,共3页
Application Research of Computers
基金
国家自然科学基金资助项目(61973257,61875166)
四川省杰出青年科技基金资助项目(2017JQ0022)
四川省科技支撑计划资助项目(2016GZ0395)
国家教育部春晖计划资助项目(Z2015107)
四川省教育厅重点科研基金资助项目(17ZA0359)
