六自由度小型通用机器人控制系统设计+CAD图纸
论文首先对机器人的应用及趋势进行了介绍，详细的分析了国内外机器人的研究与发展状况。
其次论文对机器人的控制方案进行论证，选取适当的控制方式，确定控制系统。然后根据控制要求配置整个控制系统的硬件，配置完硬件后对其软件进行设计。
最后对设计的控制系统进行安装调试，完善控制系统。
毕业论文关键词：机器人手臂；优尔自由度；控制系统
Design of Small Universal Robot Control System
Abstract：Currently the most widely robot practical application of automated machinery and equipment in the field of robotics, and medical treatment, industrial manufacturing, entertainment services, semiconductor, military, manufacturing and other areas of space exploration can see its shadow. Despite their morphology vary, but they all have one common characteristic, that is able to accept instruction, precisely positioned to carry out operations at a point three (or two-dimensional) space. In this paper, the design of the control system with six degrees of freedom of a small general-purpose robot, the robot arm is six degrees of freedom based on a single study design is its control system. Firstly, applications and trends for robots were introduced, a detailed analysis of the research and development of domestic and foreign robot.
Firstly, applications and trends for robots were introduced, a detailed analysis of the research and development of domestic and foreign robot.
Second thesis demonstrate the robot control program, select the appropriate control, the control system is determined. Then configure the hardware of the control system according to the control requirements, design their software After the hardware configuration.
Finally, the design of the control system installation and commissioning, complete control system.
Keywords: The robot arm; six degrees of freedom; Control System.
目录
1 绪论 1
1.1 课题介绍 1
1.2 选题背景 2
1.3课题研究的意义 2
1.4 文献综述 2
2 机器人控制系统方案的设计 5
2.1 控制系统的选型 6
2.2 PLC类型的选择 6
3 控制系统的硬件配置 7
3.1 确定控制对象 7
3.2 机器人的控制面板 10
3.3 I/O点的分配 10
3.4 PLC选型及配置 14
4 控制过程 19
4.1交流伺服电机及伺服驱动器的介绍 21
4.2 上位机与伺服驱动器的连接 22
4.3 程序编制 26
5.总结 34
致谢 34
参考文献 35
1 绪论
1.1 课题介绍
机器人技术集中了机械工程、电子技术、计算机技术、自动控制理论及人工智能等多学科的最新研究成果，代表了机电一体化的最高成就，是当代科学技术发展最活跃的领域之一。
机器人手臂的外形体积大小对生产空间有这密不可分的联系，作为新一代的机器人手臂，ABB系列手臂在尺寸大幅缩减的情况下，继承了该系列机器人的所有功能和技术，为缩小机器人工作的站占地面积创造了良好的条件。紧凑机型结合轻量化的设计，成就了ABB卓越的经济性与可靠性，具有低投资、高产出的优势。