六边形并联机器人控制系统的研制

2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) Pub Date : 2016-05-19 DOI:10.1109/AQTR.2016.7501318

C. Vaida, D. Pisla, F. Covaciu, B. Gherman, A. Pîslă, N. Plitea

{"title":"六边形并联机器人控制系统的研制","authors":"C. Vaida, D. Pisla, F. Covaciu, B. Gherman, A. Pîslă, N. Plitea","doi":"10.1109/AQTR.2016.7501318","DOIUrl":null,"url":null,"abstract":"A new control architecture for the HEXA parallel robot is presented in this paper. The control algorithm is implemented directly into the robot PLC to allow real-time control for complex trajectories which ensures the safe behavior of the HEXA robot. The HEXA robot is a six degrees of freedom fully-parallel robot structure which could provide high stiffness and accuracy, very good dynamic behavior and efficient payload capacity. The new control system uses the communication system POWERLINK and the programming standard PLCOpen which enabled the setup of a generalized basic structure for the control of any 6-axes robotic structure.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"161 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Development of a control system for a HEXA parallel robot\",\"authors\":\"C. Vaida, D. Pisla, F. Covaciu, B. Gherman, A. Pîslă, N. Plitea\",\"doi\":\"10.1109/AQTR.2016.7501318\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A new control architecture for the HEXA parallel robot is presented in this paper. The control algorithm is implemented directly into the robot PLC to allow real-time control for complex trajectories which ensures the safe behavior of the HEXA robot. The HEXA robot is a six degrees of freedom fully-parallel robot structure which could provide high stiffness and accuracy, very good dynamic behavior and efficient payload capacity. The new control system uses the communication system POWERLINK and the programming standard PLCOpen which enabled the setup of a generalized basic structure for the control of any 6-axes robotic structure.\",\"PeriodicalId\":110627,\"journal\":{\"name\":\"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)\",\"volume\":\"161 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-05-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AQTR.2016.7501318\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AQTR.2016.7501318","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 6

摘要

提出了一种新的六边形并联机器人控制体系结构。控制算法直接实现到机器人PLC中，允许对复杂轨迹进行实时控制，从而确保HEXA机器人的安全行为。HEXA机器人是一种六自由度的全并联机器人结构，具有较高的刚度和精度、良好的动力学性能和有效的载荷能力。新的控制系统采用通信系统POWERLINK和编程标准PLCOpen，可以建立一个通用的基本结构来控制任何六轴机器人结构。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Development of a control system for a HEXA parallel robot

A new control architecture for the HEXA parallel robot is presented in this paper. The control algorithm is implemented directly into the robot PLC to allow real-time control for complex trajectories which ensures the safe behavior of the HEXA robot. The HEXA robot is a six degrees of freedom fully-parallel robot structure which could provide high stiffness and accuracy, very good dynamic behavior and efficient payload capacity. The new control system uses the communication system POWERLINK and the programming standard PLCOpen which enabled the setup of a generalized basic structure for the control of any 6-axes robotic structure.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)

自引率

0.00%

发文量