【作者】 许果；

【导师】 何岭松； 王峻峰；

【作者基本信息】 华中科技大学 ， 机械电子工程， 2005， 硕士

【摘要】 机器人的网络控制是计算机技术、通信技术与机器人控制技术相结合的一种现代机器人控制方式。采用这种控制方式的机器人控制系统可以利用负责系统管理控制任务的上位机,通过相关网络,实现对远程机器人的控制、故障检测等功能。本文在深入研究了现场总线技术、机器人控制技术及分布式控制技术的基础上,设计了这个基于MODBUS 现场总线的分布式机器人控制系统。本方案为最终实现机器人的远程控制奠定了基础。主要研究内容包括: 第一,针对系统设计的需要,在深入研究了现场总线和机器人控制技术的基础上,设计了该系统总体的结构;研究了系统软硬件设计的原则和方法;给出了一种简单实用的机器人控制算法。第二,针对机器人控制的特点,研究了MODBUS 总线协议的实现,解决了机器人网络控制的通信问题。第三,根据机器人控制的需要,在分析了几种常用的机器人控制器的设计方案后,完成了整个系统软硬件的设计。最后,为了验证研究工作的效果,给出了系统实现的一个实例,包括上位机软件的运行以及系统有关部分工作的情况。实践证明该系统基本达到了设计的要求,实现了机器人的网络控制的思想。本控制系统是一种先进的机器人控制方法的一个实例,而且作为一种成本较低、控制简单有效的系统,在生产教学上具有重要的理论意义和推广价值。更多还原

【Abstract】 Network control to Robots is a new way for Robots-control, which integrates three advanced techniques including computer technique, communications technique and robotic controlling technique. Once that way is applied in the robotic controlling system, user can control or trouble-shooting the remote Robots on the network through the system’s HOST. After studied some techniques including advanced Field-Bus, Robots-control and Distributed control, this dissertation uses the robotic controlling technology available and advanced Field-Bus to develop a full-distributed robots-control system based on Modbus. The system lay a foundation for the accomplishment of the Robots’remote control. The followings are what the author has worked on for this thesis: Firstly, in order to optimize the system’s structure, some related technologies including Distributed control and Robots-control are generally studied and the total structures of this system are proposed and the following implementing methods are proposed: the design method and the design principle of both the hardware and software, a simple and useful control arithmetic of robot. Secondly, in order to solve the communication problem, I introduce something about Modbus protocol’s implement according to Robots-control’s characteristic. Thirdly, in order to solve the Robots’control, several kinds of common methods of designing the Robot-controller are analyzed, then whole system’s hardware and software are proposed. Finally, in order to prove the effect of the researching works, I give the example of this system including the host computer running the control software and some parts’going. It is proved that the system i develop has fulfilled the objective of design. The system we build is an instance of a advanced technique. According to the above studies, the prediction can be given: the successful design can be used to control or monitor the Robots on the network and be widely used to teaching and industry.更多还原