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基于CPS方法的工业机器人系统

陈友东 常石磊 冯强国

陈友东, 常石磊, 冯强国等 . 基于CPS方法的工业机器人系统[J]. 北京航空航天大学学报, 2018, 44(5): 931-938. doi: 10.13700/j.bh.1001-5965.2017.0374
引用本文: 陈友东, 常石磊, 冯强国等 . 基于CPS方法的工业机器人系统[J]. 北京航空航天大学学报, 2018, 44(5): 931-938. doi: 10.13700/j.bh.1001-5965.2017.0374
CHEN Youdong, CHANG Shilei, FENG Qiangguoet al. Industrial robot system based on CPS approach[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(5): 931-938. doi: 10.13700/j.bh.1001-5965.2017.0374(in Chinese)
Citation: CHEN Youdong, CHANG Shilei, FENG Qiangguoet al. Industrial robot system based on CPS approach[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(5): 931-938. doi: 10.13700/j.bh.1001-5965.2017.0374(in Chinese)

基于CPS方法的工业机器人系统

doi: 10.13700/j.bh.1001-5965.2017.0374
基金项目: 

国家科技支撑计划 2015BAF01B04

北京市科技计划 D161100003116002

详细信息
    作者简介:

    陈友东  男, 博士, 副教授。主要研究方向:工业机器人、人机协作、运动控制、数控系统

    常石磊  男, 硕士研究生。主要研究方向:工业机器人

    冯强国  男, 硕士研究生。主要研究方向:工业机器人

    通讯作者:

    陈友东, E-mail: chenyd@buaa.edu.cn

  • 中图分类号: TP242.2

Industrial robot system based on CPS approach

Funds: 

National Key Technology Research and Development Program of the Ministry of Science and Technology of China 2015BAF01B04

Beijing Municipal Science and Technology Project D161100003116002

More Information
  • 摘要:

    基于信息物理融合系统(CPS)的工业机器人系统是智能制造的使能技术和设备,提出了一种基于CPS方法的工业机器人系统,实现了物理世界和信息世界的融合。系统分为物理层、网络层、控制层和应用层。物理层的数据通过网络层上传给控制层,更新物理世界在信息世界的信息;应用层对其进行优化、决策;控制层将决策转变为设备的控制信息,通过网络层实现物理层的控制。采用该方法实现的工业机器人系统,在ER3A-C60型工业机器人上,采用自制的控制系统和MICRO-6013CM型工业相机进行验证,证实了该方法的可行性。

     

  • 图 1  基于CPS方法的工业机器人系统

    Figure 1.  Industrial robot system based on CPS approach

    图 2  基于CPS方法的机器人系统的具体组成

    Figure 2.  Specific components of industrial robot system based on CPS approach

    图 3  机器人控制系统物理层

    Figure 3.  Physical layer of robot control system

    图 4  控制器软件结构

    Figure 4.  Software structure of controller

    图 5  Modbus通信流程

    Figure 5.  Process of Modbus communication

    图 6  控制层类的关系

    Figure 6.  Class diagram of control layer

    图 7  仿真环境类的关系

    Figure 7.  Class diagram of simulation environment

    图 8  交互界面类的关系

    Figure 8.  Class diagram of interaction interface

    图 9  实验系统

    Figure 9.  Experimental system

    图 10  任务轨迹相对位置

    Figure 10.  Relative position of task trajectory

    图 11  操作流程

    Figure 11.  Operation process

    图 12  运行中的机器人与仿真模型

    Figure 12.  Running robot and simulation model

    图 13  任务轨迹分析

    Figure 13.  Analysis of task trajectory

    表  1  Modbus协议的主要功能码[15]

    Table  1.   Function code mainly used in Modbus process[15]

    功能码 备注
    1 读取线圈状态取得一组逻辑线圈的当前状态
    2 读取输入状态取得一组开关输入的当前状态
    3 一个或多个保持寄存器中取得当前的二进制值
    4 在一个或多个输入寄存器中取得当前的二进制值
    5 强置一个逻辑线圈的通断状态
    6 把具体二进值装入一个保持寄存器
    15 强置一串连续逻辑线圈的通断
    16 把具体二进制值装入一串连续的保持寄存器支持浮点数
    20 读通用寄存器
    21 写通用寄存器
    下载: 导出CSV
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出版历程
  • 收稿日期:  2017-06-05
  • 录用日期:  2017-07-07
  • 刊出日期:  2018-05-20

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