摘要
介绍了一种具有7自由度运动功能的水下机器人机械手的工作原理和控制要求,详细讨论了控制系统的组成与结构;并介绍了用VB实现普通微机与PLC通信的方法,给出了通讯软件的详细设计过程。实现了对机械手的各种运动控制功能,并使系统具有一定的自适应和自诊断功能,从而保证了系统运行的稳定性与安全性。
The working principals and controlling requirements of a seven free-degree manipulator of an underwater robot are illustrated in this article. Especially; the construction and components of the controlling system are studied in detail. Then; the article describes the way to communicate between the PC and PLC based on the VB software. Becides controlling the movements of the manipulator; the system illustrated in this article also has the function of self-adapting and self-diagnosing; so the security and stability of system are improved greatly.
出处
《凿岩机械气动工具》
2003年第4期53-58,共6页
Rock Drilling Machinery & Pneumatic Tools
关键词
水下机械手
控制系统
通信
underwater manipulator
controlling system
communication
