工業(yè)機(jī)器人體系結(jié)構(gòu)及其在焊接切割機(jī)器人中的應(yīng)用研究.pdf

1、n0一。一晰斑：編峙工學(xué)碩士學(xué)位論文工業(yè)機(jī)器人體系結(jié)構(gòu)及其在焊接‘切割機(jī)器人中的應(yīng)用研究順士研究生指導(dǎo)數(shù)師學(xué)剝、專業(yè)學(xué)位淪文主宙人李欣二E宗義教投控制理論與控制T程孫華教授哈爾濱Z程大學(xué)2008年3月哈爾濱r=程大學(xué)碩十學(xué)位論文ABSTRACTThearchitecture，theformofcontrolsystemofmodemindustrialrobotandthecontrollermodebasedonPCtechnolog

2、yarediscussedinthispaperTheresult，whichisainfrastructurethatsupportsprimarydesignofindustrialrobotcontrolsystemeffectivelydecreasesthepossibilityoftheredesignonthebasisofimproperdesigntothesystemThepaperpresentsthatCANfi

3、eldbusactsascommunicationbusbetweenhostcomputerandlowersysteminthesystemdesignofdistributedweldingincisingrobotsTheelectricalcharacteristic，framestructureofCANfieldbusandthestructureofrobotcontrolsystembasedonCANfield—bu

4、sareelaboratedinthisthesisThispaperdetailsthestructureofcontrolsystem，controlmodeandhardwarestructureofthisrobotsystem，withthestressonthesoftwareandhardwaredesignofPCThePCisthecalculationandcontrolcenterinthisrobotsystem

5、InPCdesignthewaterfallmethodisintroduced，whichimplementsthedesignofsoftwareandhardwareatthesametime，andisbeneficialforshorteningdevelopingtimeThedesignofapplicationprogramofPCisbasedonsoftwarearchitecturalstyle，including

6、object—oriented，dataabstractionstyle，layeredstyle，andSOon，wherethecharacteristics，advantagesanddisadvantagesofeachstyle，andtheapplicationandimplementationintherobot，areelaboratedThesoftwarearchitecturalstyleimprovesthefl

7、exibilityandreusabilityofsoftwaresystem，relievestherepeateddevelopmentandenhancestheflexibilityofsystemInaddition，thetrajectoryregulationandCANcommunicationprotocolareexplained‘Andfinallyallintroductionhasbeenmadeoftheex