具有直接教学功能的关节式机器人的研制

Taeyong Choi, Yijoon Yoo, Hyunmin Do, Doohyung Kim, Chanhun Park
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引用次数: 0

摘要

工业机器人广泛应用于汽车制造、焊接、晶圆搬运、物体搬运等领域。每个应用程序都需要自己的重要属性,如高精度、高负载、小尺寸等。然后,所有的工业机器人一般都需要固定时间的控制特性。ethercat是一种高度灵活的ethercat网络协议,目前正在快速发展并以更快的速度增长。它是传统以太网的扩展,具有通信速度快、布线简单的特点。有了ethercat,工业机器人的实现变得更加容易。在这里,对具有直接教学功能的工业机器人的实现进行了描述。该机器人通过PC上的ethercat主机与为该机器人开发的ethercat从机之间的ethercat通信进行控制。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Development of a articulated robot with the direct-teaching function
The industrial robot is widly used in the field of car manufacturing, welding, wafer handling, object transfering and so on. Each application needs its own important properties such as high precision, high payload, compact size and so on. Then, all of industrial robots need the fixed-time control property commonly. The ethercat is a highly flexible EtherCAT network protocol that is developing at a rapid rate and growing at an even faster clip. It is extention of conventional ethernet with a high speed communication and simple wiring characteristic. With the ethercat, the implementation of the industrial robot is more easier. Here, the implementation of the industrial robot with the function of the direct teaching is described. That robot is controlled through the ethercat communication between the ethercat master in PC and ethercat slaves developed for this robot.
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