作　　者： ; ; ; ;

机构地区： 南京航空航天大学机电学院

出　　处： 《机械科学与技术》 2015年第9期1333-1339,共7页

摘　　要： 为了提高改进型五自由度直角坐标机器人对数控折弯机折弯动作跟随的精确度和同步性,研究了一种基于折弯机滑块实时位置的折弯随动路径规划与运动控制技术。使用Matlab软件进行了折弯随动算法的仿真分析,获得了较好的理论路径。设计开发了折弯机位置采集模块,并采用固高运动控制器组建了机器人折弯随动控制系统。结果表明:该折弯机器人进行折弯随动控制的实际同步路径误差小于0.8 mm,具有较高的跟随精度、加工精度和一致性。 In order to solve the difficult problem of how to improve a robot's tracking the path of a press brake with high accuracy and great synchronization during bending,the algorithm of path planning and motion control based on the real-time position tracking of the press brake was studied. The simulation and analysis of the path planning with Matlab show that the algorithm can plan the path of the press brake. In addition,the robot's motion control system based on the Googol motion controller and the circuit module for acquiring the position of press brake were designed and developed. The results show that the actual path deviation of the bending robot when the algorithm was adopted is less than 0.8 mm,showing the high-accuracy tracking,higher precision and great synchronization.

关 键 词： 路径规划 运动方程 机器人 运动控制 折弯

领　　域： [自动化与计算机技术] [自动化与计算机技术]