摘要
单线程的数据交互使得系统的吞吐量较小,导致机械手臂的控制指令往往有着较大的延迟。为了解决这一问题,设计了基于PLC控制的机械手臂自动控制系统。该系统选用拥有专用定位指令的三菱PLC设备,采用双脉冲模式配置系统的通信模式,实现机械手臂弯曲传感器数据的传输,作为系统的硬件支持。系统的软件部分设计多线程的数据交互模块,通过设计机械手臂控制的伪码指令,利用PLC完成控制指令的发送,实现系统的自动控制功能。测试结果表明,该系统能将机械手臂自动控制响应的延迟降至0.046 s,具有较好的性能。
Single-threaded data interaction results in low system throughput,leading to significant delays in robotic arm control commands.To address this issue,an automated robotic arm control system based on PLC was designed.The system employs Mitsubishi PLC equipment with dedicated positioning commands and adopts a dual-pulse mode to configure the communication protocol,enabling the transmission of bending sensor data for the robotic arm as hardware support.The software component features a multi-threaded data interaction module,which uses pseudocode instructions for robotic arm control and leverages PLC to execute control commands,achieving automatic control functionality.Test results demonstrate that the system reduces robotic arm control response latency to 0.046 s,exhibiting excellent performance.
作者
陈诚
CHEN Cheng(Shanghai Maritime University Harbor Campus,Shanghai 200136,China)
出处
《电工技术》
2026年第2期5-7,11,共4页
Electric Engineering
