摘要
针对搬运机器人的需求,提出了一种码垛机器人控制系统的设计方案。首先介绍了码垛机器人的机构类型,然后分别对控制系统的硬件及软件结构设计做了详细的研究。控制系统基于嵌入式ARM硬件平台进行开发,采用Linux操作系统和Qt界面。阐述了码垛机器人的轨迹规划方法,经实验平台测试验证控制系统的可行性和合理性。
In accordance with the demand of palletizing robot,a scheme design of stacking robot control system is proposed.The structure of stacking robot is introduced first,and later hardware and software of the control system is deduced thoroughly.Control system develops based on embedded ARM hardware platform,uses Linux operating system and Qt interface,and describes the method of trajectory planning.Finally,the test results of experimental platform prove the effectiveness and reason of the control system.
出处
《机电一体化》
2014年第A01期55-58,77,共5页
Mechatronics
