文档介绍：上海交通大学工学硕士学位论文 摘要I 机器人作业系统周边装置控制器的开发摘要轿车市场竞争日趋激烈,原有的机器人工作站在实际应用中有种种限制和缺陷。本文对机器人工作站进行了重新开发,主要是增加了周边设备控制器,增强了工作站的功能。1)本文重构原有机器人工作站,增加一个系统控制器和一个工装控制器以增强功能,工作站机器人为安川的MOTOMAN UP6机器人。2)选用NOVA8450工控机作为系统控制器,采用半闭环控制双工位变位机,采用IPC+运动控制卡的控制结构,根据变位机技术参选用安川伺服驱动器作为执行元件。3)开发设计一套运动控制卡来完成变位机回转轴和翻转轴的运动控制。完成了运动控制器的硬件设计和软件设计。4)开发了系统控制器的附加功能来增强系统的精度和安全性。5)引入EmCore作为嵌入工装控制器,针对不同的工装设计了相应的工装夹具进阶控制逻辑。不同工装的控制逻辑只需要填写工装上气缸数量和与之对应的传感器数量即可生成与工装夹具相对应的进阶控制逻辑。使工装的功能更加完善。,并讨论了离线编程,写入工装控制器的即插即用时的工装更换理念。上海交通大学工学硕士学位论文 摘要II 关键词 机器人,变位机,运动控制,交流伺服系统上海交通大学工学硕士学位论文 ABSTRACTIII ROBOT OPERATING SYSTEM PERIPHERAL DEVICE CONTROLLER DEVELOPMENT ABSTRACT Now car market e petitive, the original robot workstation in practical applications has various constraints and ings. In this paper, robot workstation has been re-developed, mainly increase peripheral device controller, and enhance the function of the workstation. 1) Reconstruct the original robot workstation in this article, add a system controller and a controller to enhance the function of equipment, workstations robot is Yaskawa's MOTOMAN UP6 robot. 2) Choose NOVA8450 IPC as a system controller, using a semi-closed-loop control duplex digital positioner, and IPC + motion control card control structure, according to variable-bit technology to run with Yaskawa servo ponents as part of the implementation. 3) Develop and design a motion control card plete the positioner shaft and flip back to the motion control axis. Complete the motion controller hardware design and software design. 4) Developed a system controller for additional functions to enhance 上海交通大学工学硕士学位论文 ABSTRACTIV system accuracy and safety. 5) Introduce tooling EmCore as embedded controllers, designed for different tooling fixture corresponding advanced control logic. Different control logic tooling equipment required plete only the cylinder volume and the corresponding quantity of the sensor can be generated with the corresponding fixture Advanced control logic. So that the