CN103786155A - Six-axis series robot motion trail programming and controlling method - Google Patents
Six-axis series robot motion trail programming and controlling method Download PDFInfo
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- CN103786155A CN103786155A CN201410027971.5A CN201410027971A CN103786155A CN 103786155 A CN103786155 A CN 103786155A CN 201410027971 A CN201410027971 A CN 201410027971A CN 103786155 A CN103786155 A CN 103786155A
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Abstract
The invention provides a six-axis series robot motion trail programming and controlling method to solve the problems that in the prior art, a six-axis series robot motion trail programming and controlling method is unstable in performance, complex to operate, high in cost and the like and a demonstrator needs to be held by hand. A serial port control module is added to an industrial PC machine, a command execution module is added to a six-axis series robot control system, and the PC machine is connected with the robot control system by means of an RS232 series port. The six-axis series robot motion trail programming and controlling method has the technical advantages that a robot motion trail control program can be programmed through the PC machine, the motion trail of a robot can be controlled through the program, or the motion trail of the robot is controlled in real time through the PC machine; in addition, the method is simple, effective and reliable in function, stability of the robot control system is improved and production cost of the robot control system can be reduced by about 10%.
Description
Technical field
The present invention relates to a kind of robot motion's track programming and control technology, specially refer to a kind of six programming of axle serial machine people movement locus and control methods.
Background technology
Six axle serial machine people are owing to having the full free degree, and operating characteristics is well widely used in Machine Manufacturing Technology neighborhood.Prior art six axle serial machine people movement locus programmings and control method mostly adopt teach programming method to program, and then, adopt the programme-control six axle serial machine people's that weave movement locus.Teach programming refers to that the hand-held teaching machine control six axle series connection industrial robots of manual manipulation, according to the track operation of subscribing,, program according to the parameter that in running, hand-held teaching machine shows meanwhile.Described hand-held teaching machine is made up of various parts such as industrial LCD, various press button, display cable, power supply, IO amount cables.Because hand-held teaching machine can move in operating process, increased the unstability of control system, and teach programming increases numerous and diverse degree and the production cost of operation everywhere.Obviously, prior art six axle serial machine people movement locus programmings and control method exist and need the problems such as hand-held teaching machine, unstable properties, trivial operations and cost are higher.
Summary of the invention
For solving the problems such as the hand-held teaching machine of needs, unstable properties, trivial operations and cost that prior art six axle serial machine people movement locus programmings and control method exist are higher, the present invention proposes a kind of six axle serial machine people movement locus and programmes and control methods.The present invention's six programming of axle serial machine people movement locus and control methods, increase serial ports control module at industrial computer PC, in six axle serial machine people control systems, increase command execution module, and adopt RS232 Serial Port Line that PC is connected with robot control system, wherein
Serial ports control module comprises packing of orders unit and data transmission unit, packing of orders unit can be combined into director data by the movement locus of the robot of needs control, and data transmission unit can be transferred to robot control system by RS232 serial ports by director data;
Command execution module can be resolved director data, is converted into robot run time version, and by robot control system, the movement locus of robot is controlled.
Further, the present invention's six programming of axle serial machine people movement locus and control methods, adopt Visiual C Plus Plus to write the program of serial ports control module.
Further, the present invention's six programming of axle serial machine people movement locus and control methods, serial ports control module can also be transferred to robot control system by serial ports by standard G code program.
The useful technique effect of the present invention's six axle serial machine people movement locus programmings and control method is to adopt PC establishment robot motion TRAJECTORY CONTROL program, and by programme-control machine people's movement locus, or by PC, the movement locus of robot is controlled in real time, and, method is simply effective, reliable in function, has increased the stability of robot control system, production cost 10% left and right that can reduce robot control system.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of the present invention's six axle serial machine people movement locus programmings and control method.
Below in conjunction with the drawings and specific embodiments, the present invention's six axle serial machine people movement locus programmings and control method are further described.
The specific embodiment
Accompanying drawing 1 is the structural representation of the present invention's six axle serial machine people movement locus programmings and control method, as seen from the figure, the present invention's six programming of axle serial machine people movement locus and control methods, increase serial ports control module in industrial computer PC side, in six axle serial machine people control systems, increase command execution module, and adopt RS232 Serial Port Line that PC is connected with robot control system, wherein, serial ports control module comprises packing of orders unit and data transmission unit, packing of orders unit can be combined into director data by the movement locus of the robot of needs control, data transmission unit can be transferred to robot control system by RS232 serial ports by director data, command execution module can be resolved director data, is converted into robot run time version, and by robot control system, the movement locus of robot is controlled.Programme for convenience and make it simply applicable, the present invention's six programming of axle serial machine people movement locus and control methods, adopt Visiual C Plus Plus to write the program of serial ports control module, and, serial ports control module can also be transferred to robot control system by serial ports by standard G code program, make serial ports control module interface function abundant, be easy to expansion.Obviously, the present invention's six axle serial machine people movement locus programmings and control method can be in the situation that PC be connected with robot input control order, robot control system receives instruction and robot is controlled, thereby realizes the real-time control of robot motion's track.Equally, also can in the situation that PC is not connected with robot, (being off-line state) write instruction, after writing, command, to robot control system, then be controlled robot motion's track by control system.The present invention's six axle serial machine people movement locus programmings and control method do not adopt hand-held teaching machine, have increased the stability of robot control system, have reduced trivial operations degree, and can reduce production cost 10% left and right of robot control system.
Obviously, the useful technique effect of the present invention's six axle serial machine people movement locus programmings and control method is to adopt PC establishment robot motion TRAJECTORY CONTROL program, and by programme-control machine people's movement locus, or the movement locus by PC robot is controlled in real time, and method is simply effective, reliable in function, increase the stability of robot control system, can reduce production cost 10% left and right of robot control system.
Claims (3)
1. an axle serial machine people movement locus is programmed and control method, it is characterized in that: increase serial ports control module at industrial computer PC, in six axle serial machine people control systems, increase command execution module, and adopt RS232 Serial Port Line that PC is connected with robot control system, wherein
Serial ports control module comprises packing of orders unit and data transmission unit, packing of orders unit can be combined into director data by the movement locus of the robot of needs control, and data transmission unit can be transferred to robot control system by RS232 serial ports by director data;
Command execution module can be resolved director data, is converted into robot run time version, and by robot control system, the movement locus of robot is controlled.
2. six axle serial machine people movement locus are programmed and control methods according to claim 1, it is characterized in that: adopt Visiual C Plus Plus to write the program of serial ports control module.
3. six axle serial machine people movement locus are programmed and control methods according to claim 1, it is characterized in that: serial ports control module can also be transferred to robot control system by serial ports by standard G code program.
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| CN201410027971.5A CN103786155B (en) | 2014-01-21 | 2014-01-21 | Six programming of axle serial manipulator movement locus and control methods |
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| CN201410027971.5A CN103786155B (en) | 2014-01-21 | 2014-01-21 | Six programming of axle serial manipulator movement locus and control methods |
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| CN103786155A true CN103786155A (en) | 2014-05-14 |
| CN103786155B CN103786155B (en) | 2016-02-17 |
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| CN104227716A (en) * | 2014-07-25 | 2014-12-24 | 太仓中科信息技术研究院 | Real-time control method for teleoperation-based camera shooting robot |
| CN104552297A (en) * | 2015-01-15 | 2015-04-29 | 合肥工业大学 | Control system of six-degree-of-freedom serial robot and control method thereof |
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| CN103786155B (en) | 2016-02-17 |
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Address after: Shiling Town Longquanyi stone District of Chengdu city Sichuan province 610000 Ling Xia Jie Patentee after: Chengdu Weida Guangtai CNC technology Limited by Share Ltd Address before: Shiling Town Longquanyi stone District of Chengdu city Sichuan province 610000 Ling Xia Jie Patentee before: Chengdu GREAT Industrial CO., Ltd. |