摘要在图书馆的日常管理和运作中，图书的归类和上下架等作业给图书管理人员带来了相当大的工作量，耗时耗力，有时还可能出现图书归类错误和上架错误等现象。目前，绝大多数图书馆都利用二维条码和数据库技术实现来图书信息系统管理，即图书采购、图书典藏、读者借还图书等环节的信息化管理，使读者在借书还书的时候能够享受更加方便快捷的服务。在如今信息化的时代中，许多图书馆很少有以机械化为基础的自动化装置。图书馆作业的智能化与自动化，能够从根本上减轻图书馆理人员的劳动强度、提高工作效率。在博物馆和档案馆中，重要文献资料需要在恒温、恒湿环境下保存。利用机器人实现图书和文献资料的归类、自动存取操作，不仅能减少馆员频繁进出馆藏室对重要文献的保存环境造成扰动和破坏，更有利于文献保护。因此，自动化技术和信息技术的有效融合，是未来图书馆的重要发展趋势。研究和开发图书自动存取装置是一项有社会和经济价值的研究项目。控制系统是图书馆图书自动存取装置的关键组成部分。其性能的好坏直接影响到图书自动存取装置是否能按要求完成规定的图书存取任务和完成任务质量的好坏。53204

毕业论文主要内容包括：

（1）运动控制系统总体方案选择：移动式图书馆图书自动存取装置采用工控机和运动控制器组成的运动控制系统，它价格便宜，发展更新速度快，能够有效借用计算机来控制。

 (2)图书馆图书自动控制系统的硬件设计和器件选型：该机制系统的硬件除了工控机和GE-800-PV运动控制器外，还包括传感器、步进电机、步进电机驱动器、读卡器、摄像头和电源等器件的型号选择。

 (3) 运动控制系统的控制算法和程序：利用Visual Basic 6.0编程工具获取图书的自动三轴运动控制，机械手的自动存取设备也将进行合理的控制编程。

关键词：移动机器人；控制系统；GE-800-PV；工控机

 Abstract

In daily management of the library, the books classification, handling and rack up and down work need to spend a lot of manpower and time, increase the labor intensity of the librarians, sometimes there will be books classification error and error phenomenon such as hit the shelves. At present, most of the library using the 2 d bar code and the database technology to realize the books information system management, namely, books, books collection, the reader borrow return book information management, and promote the library management and service level. In the wave of informatization, the library lacks on the basis of mechanization automation devices. Library automation and intelligent, able to fundamentally reduce the labor intensity of librarians, improve work efficiency, especially applicable to adopt closed shelves borrowing books in the library. In museums and archives, important documents need to be kept under constant temperature, and humidity environment. Using robots for books and literature classification, automatic access operation, not only can reduce the librarians frequently in and out of the library room for important literature disturbance and damage caused by the preservation of the environment, more conducive to document protection. As a result, automation technology and the effective integration of information technology, is one of the important development trend of future library. Research and development of library automatic access device is a social and economic value of the research project. Control system is the key of library automatic access device component. The stand or fall of its performance directly affects the library access device can automatically according to the requirements as prescribed by the complete library access by the quality of tasks and to complete the task.