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15pt;"> </span><span class="18" style="line-height: 16pt; text-indent: 0pt; font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 15pt;">4 </span><span class="18" style="line-height: 16pt; text-indent: 0pt; font-family: 'Times New Roman'; letter-spacing: 0pt; font-size: 15pt;">Delta</span><span style="line-height: 16pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-size: 16pt;">机器人运动控制系统</span></p> <p class="NewStyle23" style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">4.1 </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">引言</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle22" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">为了保证</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">两自由度高速并联工业机器人高速、高精度的平稳运行，必须选择 合理的运动控制系统，本章节将会介绍</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人使用的开源机器人操作系统</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">ROS</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">下 的硬件和软件，包括视觉伺服、</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Galil</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">运动控制卡、</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Copley</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">驱动器、直驱力矩电机和基于 </span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Linux</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">系统的机器人操作系统</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">ROS</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">下的软件控制界面，最后，通过实验验证上一章节中 三种轨迹规划方法的实用性。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle23" style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><!--[if !supportLists]--><span style="font-family: 'MS Gothic'; letter-spacing: 0pt; font-weight: bold; font-size: 10pt;"> </span><!--[endif]--><span class="19" style="font-family: 'MS Gothic'; letter-spacing: 0pt; font-weight: bold; font-size: 10pt;">4.2 </span><span class="19" style="font-family: 'MS Gothic'; letter-spacing: 0pt; font-weight: bold; font-size: 10pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">制系统</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">简</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">介</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle22" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人的控制系统组成主要有：普通</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PC</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">电脑、视觉传感器、</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Galil</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">运动控制 卡、</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Copley</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">伺服驱动器、高精度直驱力矩电机，还有用于初始定位的接近开关，其控制 系统结构如图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">4-1</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">所示。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle22" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人初始运行时需要回零定位，在机器人的直驱力矩电机托架上装有两个 接近开关，当机器人的输出臂挡住接近开关时，输出臂停止运动，初始定位完成。通过 离线或实时在线轨迹规划，</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PC</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机将规划好的数据传给</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Galil</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">运动控制卡，</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Galil</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">运动控制 卡将处理后的数据传给</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Copley</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">驱动器，</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Copley</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">驱动器驱动直驱力矩电机，编码器对直 驱力矩电机进行实时数据采集并将采集得到的数据反馈给</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Galil</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">运动控制卡和</span><span class="17" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Copley</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">驱 动器，实现驱动电机的闭环控制，从而完成了物体的拾取、转运和释放动作，控制系统 实物如图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">4-2</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">所示。</span></p> <p class="NewStyle22" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle22" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p> <p class="NewStyle22" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>数控机床</a> <a href='/index.php?case=tag&act=show&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>高速加工中心</a> <a 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href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>数控机床</a> <a href='/index.php?case=tag&act=show&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>高速加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%9C%BA%E6%A2%B0%E6%89%8B' target='_blank'>机械手</a> <a href='/index.php?case=tag&act=show&tag=%E6%9C%BA%E5%99%A8%E4%BA%BA' target='_blank'>机器人</a> <small>相关内容</small></a></h3> <p></p> <span>——</span> </div> <!-- 页面标题结束 --> <hr class="featurette-divider"> <div class="container list-container"> <!-- 内容列表开始 --> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>11</span> <p>2024-12</p> </div> <h4><a title="U600S五轴加工中心视频" href="/bethel/video/show-3042.html" target="_blank">U600S五轴加工中心视频</a></h4> <p>此视频详细介绍了U600S高性能五轴加工中心各种参数及说明！… <a href="/bethel/video/show-3042.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="六角亭五轴加工工艺" href="/bethel/5-aix/show-2966.html" target="_blank">六角亭五轴加工工艺</a></h4> <p>本文以组合式六角亭模型为实例，分析工艺难点与加工可行性，指出该模型的加工难点是模型形状不规则和整体刚性差，并通过设计新的工艺方案解决加工难点，完成了模型整体的加工。新的加工工艺有助于提高加工效率和精度，为五轴数控加工提供了一个典型案例，对于五轴加工中心数控加工也具有指导作用和重要… <a href="/bethel/5-aix/show-2966.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="自适应控制方法在混联五轴加工中心中的应用" href="/bethel/5-aix/show-2965.html" target="_blank">自适应控制方法在混联五轴加工中心中的应用</a></h4> <p>宇匠数控 备注：为保证文章的完整度，本文核心内容由PDF格式显示，如未有显示请刷新或转换浏览器尝试，手机浏览可能无法正常使用！本文摘要：通过对混联五轴加工中心自适应深度学习控制方法的 研 究，可 知 此 方 法 的 创 新 之 处 在 于：１）建 立 了 机 床 的 运 动 学 … <a href="/bethel/5-aix/show-2965.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="五轴加工中心和五轴钻攻中心在机测量探头补偿" href="/bethel/5-aix/show-2959.html" target="_blank">五轴加工中心和五轴钻攻中心在机测量探头补</a></h4> <p>在机测量技术由于其成本低、检测效率高、无需二次装夹等优势被广泛用于零件加工测量当中，使得五轴加工中心和五轴钻攻中心，同时又兼具测量功能。在机测量系统的构成如图1所示，硬件部分主要是由高精度探头、信号接收器、机床整个本体，软件部分由机床控制系统、测量软件等组成[8]。待零件加工完成… <a href="/bethel/5-aix/show-2959.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="五轴加工中心进给系统动态误差影响因素" href="/bethel/5-aix/show-2958.html" target="_blank">五轴加工中心进给系统动态误差影响因素</a></h4> <p>加工精度是影响机床性能和产品质量的主要难题，也是制约国家精密制造能力的重要因素。本文以五轴加工中心为对象，针对提升机床精度进行了研究。并且随着科技的发展，精密的仪器和零件在生产实践中占据的分量逐渐增加，在数控机床这种精密机器精度不断提高的同时，必须控制内外界环境的随机影响因素在… <a href="/bethel/5-aix/show-2958.html" target="_blank">[了解更多]</a></p> </div> <!-- 内容列表结束 --> </div> <!-- 相关文章结束 --> <!-- 页底推荐图文产品开始 --> <hr 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