两自由度直角装配机器人计算机控制系统-电子信息工程专业论文.docxVIP

大连理工大学硕士学位论文摘要 大连理工大学硕士学位论文 摘要 机器人技术是在控制工程、计算机科学、人工智能及机械学等多种学科基础上发展起 来的一种四位一体的综合技术。本文主要从可靠性和实用性角度出发，讨论了如何使用松f．J 电工FP2可编程控制器构成面向电子制造行业的两自由度直角装配机器人的计算机控制系 统。系统地编制了示教系统和控制前面板管理软件，用以实现机器人复位、示教和运行。提 出了用户程序的描述方法和存储结构，初步探讨了用户程序的解释和再现执行程序。同时， 本文对控制系统的硬件也进行了大量的设计。全面地阐述了示教盒中显示电路和键盘电路的 实现，设计了组合式按键电路和硬件译码显示电路，减少了示教盒上的输入输出线。1．作状 态及故障诊断指示，使得操作者很清楚地了解机器人的工作状态及有可能发生的故障，以便 及时排除。x、z轴坐标值显示将机器人的空间位置数字化。程序号选择使机器人可以示教 或运行不同的用户程序。最后，给出了内存分配和I／O(输入输出)接口地址，定义了输入 输出类型。 关键词 直角装配机器人，计算机控制系统．可编程控制器，示教和再现 大连理工大学硕士学位论文Abstract 大连理工大学硕士学位论文 Abstract The robot technology based on the control engineering，computer science， artificial intelligence and mechanics has been wideiY used in variOUS fields such as industries and defense systems．Following the principles of reliability and pratticability，this thesi s di SCUSSeS the design and realization of the computer control system for the two axes right angle assemble robot used in the electronic manufacturing with Matsushita E1ectric Works FP2 programmable controller It also introduces the scheme and design of the software for the teaching system and the front panel administrative system， implementing the resetting，teaching and running operations．After describing the user’s program and the memory structure，this thesis discusses the interpretation of the user’s program and its operation with a reappearance manner．on the other hand．this thesis also introduces the design and implementation of the hardware in the control system，including the display and keyboard circuit in the teaching box，the button with a logical combination，and the coding and display Circuit．It reduces the input and output cord in the teaching box． The designed trouble diagnosis display can indicate the working status of the robot and remove any trouble if it happens．Another distinct feature of the control System is that it transforms coordinares of X and Z of the robot’s position into digital values，and makes the locating of the robo