Design and Research of Industrial Robot Control System Under PLCopen
Based on the PLCopen specification,this paper designs a scheme for the control system of industrial robots.Firstly,through requirement analysis,determine the overall design goals of the control system.Secondly,the hardware and software architecture of the control system was designed,including master-slave control methods,PLC programming environment,and functional block programming mode.Through various motion modules,such as single axis motion module,zero return motion module,and circular arc motion module,multi degree of freedom motion control of the robot has been achieved.Finally,the effectiveness of the software system in achieving precise robot motion was verified through practical testing.This design scheme not only meets the requirements of industrial robots for precise motion control during task execution,but also effectively improves the flexibility and universality of the robot control system.
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