基于工业以太网的机器人外部运动控制系统设计与实现.docxVIP

本科生毕业论文（设计）题目：基于工业以太网的机器人外部运动控制系统设计与实现学 院 电子信息工程学院 学科门类 工学 专 业 自动化学 号 2013442156 姓 名 刘重阳指导教师 高月华2017年5月25日基于工业以太网的机器人外部运动控制系统设计与实现摘　　要随着工业领域对机器人要求越来越高，需要各个设备相互配合的，同步工作，运动控制系统网络化已成为未来发展的趋势。针对国外控制器价格昂贵、技术封闭、扩展性差和不利于我国工业发展等特点，依据工业以太网传输速度高、成本低、软硬件资源丰富等优势，采用外部运动控制的方法，设计实现了易于拓展的外部运动控制系统，该系统稳定高效。本文采用西门子公司的HMI（人机界面）与主控器PLC(可编程逻辑控制器)配置联通，KUKA机器人作为从站与PLC作为主站实现被控与控制的过程，并使用WorkVisual软件对KUKA机器人进行Profinet通讯协议配置，达到KUKA机器人与PLC的信号交互的目的，通过采用异步通信方法，使通讯更加灵活。实验验证：该系统的通讯方法传输稳定，组态方法简洁方便，机器人运动灵活舒畅，为工业生产中机器人设备的集成和开发起到了一定的作用。关键字：KUKA机器人；PLC；Profinet协议Design and Realization of Robot External Motion Control System Based on Industrial EthernetAbstractWith the industrial requirements of the robot is getting higher and higher, the need for each device with each other, synchronous work, motion control system network has become the future development trend. According to the advantages of high cost, low cost, rich hardware and software resources, such as the advantages of expensive foreign controller, limited technology, poor expansion and unfavorable industrial development in China, the use of external motion control method to achieve stable and efficient easy Development of external motion control system.In this paper, Siemens HMI (man-machine interface) and master PLC (programmable logic controller) configuration Unicom, KUKA robot as a slave and PLC as the master station to achieve the process of control and control, and use WorkVisual software on KUKA Robot for Profinet communication protocol configuration, to KUKA robot and PLC signal interaction purposes, through the use of asynchronous communication methods to make communication more flexible. Experimental verification: The communication method of the system is stable, the configuration method is simple and convenient, the robot movement is flexible and comfortable, and it has played a certain role in the integration and development of robot equipment in industrial production.Key words:KUKA robot; PLC; Pr