| 基于CAN总线的焊接机器人安全控制器系统的设计 |
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| 引用本文： | 郑磊,叶桦,孙晓洁.基于CAN总线的焊接机器人安全控制器系统的设计[J].科技通报,2011,27(5):671-676. |
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| 作者姓名： | 郑磊 叶桦 孙晓洁 |
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| 作者单位： | 东南大学自动化学院,南京210096;东南大学复杂工程系统测量与控制教育部重点实验室,南京210096 |
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| 基金项目： | 江苏省徐工集团院士工作站资助项目(BM2009562); 江苏省重大科技成果转化项目(BA2007058) |
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| 摘 要： | 为提高工业焊接机器人安全性,分析和研究了安全保护系统的任务需求,引入CAN工业现场总线技术,建立基于CAN总线的机器人控制结构,针对机器人控制系统各种工作状态制定相应的安全策略,划定系统安全等级,设计独立的安全控制器,配置安全控制器与机器人各模块之间的CAN总线通讯协议格式,监控机器人运行参数,通过逻辑判断和安全区域计...
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| 关 键 词： | 工业焊接机器人 CAN总线 通讯协议 安全保护 |
Design of Safety Protection System for Industry Welding Robot based on CAN Bus |
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| ZHENG Lei,YE Hua,SUN Xiaojie.Design of Safety Protection System for Industry Welding Robot based on CAN Bus[J].Bulletin of Science and Technology,2011,27(5):671-676. |
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| Authors: | ZHENG Lei YE Hua SUN Xiaojie |
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| Institution: | ZHENG Lei,YE Hua,SUN Xiaojie (School of Automation,Southeast University.Nanjing Jiangsu 210096,China,Key Laboratory of Measurement and Control of Complex System of Engineering of Ministry of Education,Southeast University,Nanjing Jiangsu 210096,China) |
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| Abstract: | To improve the safety of industrial welding robots,the task demand of safeguard system is firstly analyzed and discussed.The technology of CAN field bus is then introduced which robot control system is based on.Given various kinds of working conditions,relevant safety strategies are made as well as safety grades.Secondly a separate safety controller is designed and communication protocol between the modules of robot and the controller is made to observe the operation parameters.Last but not least,the mechan... |
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| Keywords: | industry welding robot CAN Bus communication protocol Safety protection |
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