基于LabView控制与仿真工程机器人 LabView Based Control and Simulation of a Construction Robot_图文.doc

说明 本文档由整理人员从网络、相关书籍等来源整理得到的,旨在为相关专业人员、学生、爱好者相互交流学习提供一些资料,其中的不完善之处或者错误在所难免,不可尽信,希望阅读人员能通过阅读发现并自行纠正不正确之处。 版权归作者所有,本文档不得私自用于商业用途。其中可能产生的问题与整理人员无关。 LabView Based Control and Simulation of a Construction Robot Th.Borangiu,F.D.Anton,and S.Anton Abstract The paper describes a multiprocessor control system for construction robots integrated in a SOA designed as a layered CAD–CAE information struc-ture.The motion control system addresses both the robot’s mobile carrier and the partially closed-loop arm of cylindrical type;their motion control is embedded in a multiprocessor Motion Control system for which programming library was developed.Experimental results concerning the motion control of the5-d.o.f. robot arm are reported. Keywords Bricklaying robotáEmbedded real time systemsáKB Programming supportáMultiprocessor systemsáRobot motion control 1Introduction The nowadays demand on the manufacturing process in the building industry is constantly rising to enable competition for quality,standardization and decrease of production costs.The standardization is directly related both to replication of construction procedures(bricklaying,windows placing,application of mortar on walls,?nishing operations–painting,polishingand to increasing working produc-tivity.These two objectives,subject to constraints of ef?cient use of materials resources and employment of workers,can be reached by using robots in the most common,monotonous,effort demanding building operations–from which the most representative is bricklaying for wall elevation[4]. Th.Borangiu(* Department of Automatic Control and Industrial Informatics,University Politehnica of Bucharest, Bucharest,Romania I.Vis?a(ed.,SYROM2009, 583 DOI10.1007/978-90-481-3522-6_49,#Springer SciencetBusiness Media,B.V.2010 584Th.Borangiu et al. Rationalisation efforts in the construction industry are more and more associated with the attempt to create information systems used to automate the building processes.Up to now,automated solutions are d