欢迎来到人人文库网! | 帮助中心 人人文库renrendoc.com美如初恋!
人人文库网
首页 人人文库网 > 资源分类 > DOC文档下载

外文翻译--自动控制器.doc

  • 资源大小:35.50KB        全文页数:7页
  • 资源格式: DOC        下载权限:游客/注册会员/VIP会员    下载费用:5
游客快捷下载 游客一键下载
会员登录下载
下载资源需要5

邮箱/手机号:
您支付成功后,系统会自动为您创建此邮箱/手机号的账号,密码跟您输入的邮箱/手机号一致,以方便您下次登录下载和查看订单。注:支付完成后需要自己下载文件,并不会自动发送文件哦!

支付方式: 微信支付    支付宝   
验证码:   换一换

友情提示
2、本站资源不支持迅雷下载,请使用浏览器直接下载(不支持QQ浏览器)
3、本站资源下载后的文档和图纸-无水印,预览文档经过压缩,下载后原文更清晰   

外文翻译--自动控制器.doc

附加外文翻译外文文献I,ROBOTCONTROLLERASOPHISTICATEDAPPROACHTOKINEMATICSISWHATDIFFERENTIATESROBOTCONTROLLERSFROMMOREGENERALPURPOSEMOTIONEQUIPMENTANINTERESTINGSITUATIONEMERGEDRECENTLYWHENAMANUFACTURERTRIEDTOPUTAVISIONSYSTEMONANASSEMBLYLINETHEIDEAWASTOLOCATEPARTSONAMOVINGCONVEYORWITHAVISIONSYSTEM,THENPOSITIONAROBOTICSARMTOPICKTHEMUPLINEATATIMEENGINEERSTHEREDILIGENTLYWORKEDOUTNUMEROUSDISPLACEMENTFUDGEFACTORSTORELATETHELOCATIONSOFTHECONVEYORENDEFFECTORSANDPARTSIMAGEDBYTHECAMERATHEFUDGEFACTORSLETTHEMOTIONCONTROLLERINFERTHEPHYSICALLOCATIONOFAPARTFROMTHEVISIONSYSTEMDATA,THENDIRECTTHEARMTOTHERIGHTPLACETOPICKITUPPROBLEMWAS,THERELATIVEPOSITIONOFTHEVARIOUSCOMPONENTSALLCHANGEDEVERYTIMETHECONVEYORWENTBACKONLINEAFTERSERVICINGORMAINTENANCETHEFACTORSSOCAREFULLYCOMPUTEDBECAMEUSELESSTHISNECESSITATEDREGULARROUNDSOFRECALCULATINGNEWDISPLACEMENTSATTHEROOTOFTHESEDIFFICULTIESWERESOMEFUNDAMENTALMISUNDERSTANDINGSABOUTHOWGENERALPURPOSEMOTIONCONTROLLERSDIFFERFROMMORESPECIALIZEDROBOTCONTROLLERSHARDWAREWISE,THETWOCANLOOKSIMILARBOTHFREQUENTLYEMPLOYPENTIUMBASEDPROCESSORSORADOPTAHYBRIDAPPROACHWITHAGENERALCPUSUPERVISINGONEORMOREDIGITALSIGNALPROCESSORSDEDICATEDTOSERVOLOOPSHOWEVER,THESOFTWAREARCHITECTUREOFAROBOTCONTROLLERDIFFERSDRAMATICALLYFROMTHATOFANORDINARYMOTIONCONTROLLERSOFTWAREITGENERALLYCONSISTSOFAROUTINEFORCLOSEDLOOPPOSITIONORVVELOCITYCONTROL,OPERATORINTERFACEFUNCTIONS,ANDROUTINEFORSUPERVISORYTASKSANIMPORTANTPOINTTONOTEISATTHESUPERVISORYLEVELOFCONTROLTASKSTHERETHATRELATETOHANDLINGMOTIONDONOTEXTENDMUCHPASTSIMPLYISSUINGPOSITIONCOMMANDSANDINDIVIDUALAXESINOTHERWORD,THESUPERVISORYLEVELISRELATIVELYSIMPLYTHESUPERVISORYLEVELOFROBOTCONTROLLERISMORESOPHISTICATEDFORONETHING,ITISWRITTENWITHTHEIDEATHAT,POSTROBOTICSYSTEMSINCORPORATEFEEDBACKFROMHIGHLEVELSENSORSTHATRESIDEOUTSIDETHEPOSITIONENCODERFEEDBACKSERVOLOOPSOFINDIVIDUALAXESTYPICALEXAMPLESINCLUDEINDUSTRIALVISIONSYSTEMANDFORCESENSORSMOSTROBOTICWORKINVOLVESUSINGINFORMATIONFROMTHESESENSORSTOCALCULATETHETRAJECTORYOFAROBOTARMTOHANDLETHISCALCULATIONPROCESS,SUPERVISORYLEVELSOFTWAREIMPLEMENTSATRAJECTORYPLANNINGALGORITHMTHISALGORITHMRELATESTHEPHYSICALLOCATIONOFPOSITIONINGELEMENTS,SENSORFEEDBACK,ANDTHEOBJECTSBEINGPOSITIONEDINTERMSOFWHAT’SCALLEDAWORLDCOORDINATESYSTEMTHISISINCONTRASTTOGENERALPURPOSEMOTIONEQUIPMENTWHICHTENDSTOUSEASEPARATEREFERENCEFRAMEFOREACHAXISOFMOTIONONEBENEFITOFAWORLDCOORDINATESYSTEMISTHATITCANELIMINATETHENEEDFORFUDGEFACTORSRELATINGSENSORDATATOTHEPOSITIONOFVARIOUSCOMPONENTSTHESTATEOFTHEARTISSUCHTHATSTRAIGHTFORWARDSETUPROUTINESCANCOMPUTESUCKINFORMATIONAUTOMATICALLYMOREOVER,DATAGATHEREDDURINGSETUPGOESINTOTRANSFORMATIONCALCULATIONSTHATDETERMINEWORLDCOORDINATESANDWHICHAREMOREPRECISETHANANYMANUALLYDEDUCEDFUDGEFACTORSREFEENCEKINEMATICSITISUSEFULTOBRIEFLYREVIEWTHEWAYAROBOTCONTROLLERIMPLEMENTSWORLDCOORDINATESREADERSWILLPROBABLYRECALLFROMENGINEERINGMECHANICSTHATTHEPOSITIONOFANARBITRARYPOINTEXPRESSEDINONECOORDINATESYSTEMCANBEMAPPEDINANOTHERTHROUGHUSEOFA4X4TRANSFORMATIONINTHECASEOFSCASAROBOTARM,THEPOSITIONOFAPOINTATTHEENDOFTHEARMCANBEEXPRESSEDINTERMSOFTHEPRODUCTOF4X4MATRICES,ONEMATRIXFOREACHLINKINTHEROBOTARMMATRIXCOEFFICIENTSFORTHEARMITSELFAREDETERMINEDBYLINKLENGTHANDGEOMETRY,ANDJOINTANGLEOBVIOUSLYLINKGEOMETRYISKNOWNJOINTANGLECOEFFICIENTSCOMEFROMFEEDBACKPROVIDEDBYJOINTSERVOENCODERSINANANALOGOUSMANNER,THECOORDINATESINFERREDFROMTHEIMAGEOFANINDUSTRIALVISIONSYSTEMCANBEEXPRESSEDINWORLDCOORDINATESVIAANOTHERSETOF4X4TRANSFORMATIONSTHECOEFFICIENTSFORTHETRANSFORMATIONMATRICESCOMEFROMINFORMATIONDETERMINEDDURINGEQUIPMENTSETUPTAKE,ASANEXAMPLE,THECASEOFPARTSLAYINGONACONVEYORTHEROBOTARMWILLLOCATETHREEPOINTSONTHECONVEYORASPARTOFTHESETUPPROCESSTHESEPOINTS,OFCOURSE,DEFINETHECONVEYORPLANETHEROBOTCONTROLLERUSESTHISINFORMATIONTODEDUCETHETRANSFORMATIONCOEFFICIENTSTHATWILLRELATECONVEYORPOSITIONINWORLDCOORDINATESAPOINTTONOTEISTHATEVENIFTHECONVEYORISONANANGLETHISFACTWILLBEREFLECTEDINTHETRANSFORMATIONCOEFFICIENTSCALCULATEDAUTOMATICALLYDURINGSETUPTHEREISNONEEDFORCOMPUTINGADDITIONALDISPLACEMENTSOROTHERCOMPENSATINGOFFSETSMODERNROBOTCONTROLLERSUSEPROGRAMMINGLANGUAGESTHATALSOWORKINWORLDCOORDINATESTOOLCOMMANDS,VISIONCOMMANDS,ANDCONVEYORDEFINITIONSALLGETEXPRESSEDTHISWAYPUTANOTHERWAY,THEWORLDCOORDINATESYSTEMANDTHETRANSFORMATIONSTHATMAKEITPOSSIBLEAREEMBEDDEDINTHECONTROLLERPROGRAMMINGLANGUAGEONEADDITIONALMANIFESTATIONOFTHISAPPROACHISTHATWHENPROGRAMMINGMOVESOPERATORSOFSUCKSYSTEMSNEEDNOTCONCERNTHEMSELVESWITHTIMINGRELATIONSHIPSATTHEOPERATINGSYSTEMLEVELTHISISALSOONEREASONWHYROBOTCONTROLLERSCANIMPLEMENTAHIGHLEVELCALIBRATIONMETHODOLOGYONCEREPOSITIONED,AROBOTANDITSANCILLARYSYSTEMSCANFINDTHEIRBEARINGSTHROUGHUSEOFAFEWSOFTWARESETUPUTILITIESTHATRECALCULATETRANSFORMATIONCOEFFICIENTSTHISPROCESSCONTRASTSWITHTHATNECESSARYFORMOREGENERALPURPOSEMOTIONCONTROLLERSTHOUGHTHESESYSTEMSALSOTENDTOEMPLOYSPECIALPURPOSEAUTOMATIONSOFTWARE,POSITIONINGCOMMANDSTENDTOASSUMECOORDINATESYSTEMSTHATCENTERONEACHAXISOFMOTIONITISCERTAINLYPOSSIBLETODEFINEWORLDCOORDINATESYSTEMFORTHESECONTROLLERSBUTCONTROLVENDERSGENERALLYLEAVETHISTASKTOOEMSHANDINGAPPLICATIONSWHEREITSPECIFICALLYCOMESINHANDYTHEREASONISTHATROBOTICPOSITIONINGISASPECIALCASEOFMOTIONCONTROLWORLDCOORDINATESOFFERLIMITEDUTILITYINSIMPLERBUTMORETYPICALPOSITIONINGAPPLICATIONSTHATCANRANGEFROMCONVERTINGMACHINESTOCARDREADERSINATMSALLINALL,THEPROCESSOFFITTINGGENERALPURPOSECONTROLLERSTOROBOTICAPPLICATIONSPUTSTHEBURDENONOEMSFORCOORDINATETRANSFORMATIONRELATIONSHIPSALREADYAVAILABLEINROBOTCONTROLLERSALTERNATIVELYTHEYCANSIMPLYTRYTOMAKEDOWITHASERIESOFLOSSROBUSTPHYSICALOFFSETSANDDISPLACEMENTSTRAJECTORYPLANNINGTHESERVOLOOPSOFTWARETHATPOSITIONSANAXISONAROBOTISFAIRLYCONVENTIONALEACHAXISHASITSOWNSERVOLOOPANERRORTERMDRIVESAXISMOTION,DERIVEDFROMTHEDIFFERENCEBETWEENPOSITIONFEEDBACKANDAPOSITIONCOMMANDTHEREMAYBEFEEDFORWARDCONSTANTSTOADJUSTTHEPOSITIONERRORUNDERCERTAINCONDITIONSANDASWITHGENERALPURPOSEMOTIONCONTROLLERS,ROBOTICSERVOLOOPSEXECUTEONTHEORDEROFONCEEVERYMILLISECONDTHESOFTWARETHATFEEDSPOSITIONCOMMANDSTOEACHSERVOLOOPISCALLEDTHETRAJECTORYPLANNERITISTHETRAJECTORYPLANNERTHATCOMPUTESAMODELOFWHEREATOOLTIPMUSTGOFROMWHEREITCURRENTLYRESIDESTODOSO,ITMUSTTAKEINFORMATIONOUTOFWORLDCOORDINATEFORMANDTRANSLATEITINTOJOINTANGLESFORASCASAROBOTORINTODISPLACEMENTSFORMOREGENERALPURPOSEAUTOMATIONEQUIPMENTTHETRAJECTORYPLANNERREPEATSTHISPROCESSABOUTEVERY16MSESTRAJECTORYANDSERVOCYCLETIMEENTERSINTONOTONLYSYSTEMBANDWIDTHCONCERNS,BUTALSOSAFETYCONSIDERATIONSTHEROBOTICINDUSTRYHASISSUEDSTRICTSAFETYSTANDARDSTHATDICTATEMINIMUMLEVELSOFPERFORMANCEINEMERGENCYSITUATIONSPERHAPSMOSTOBVIOUSOFTHESEISTHEEMERGENCYSTOPROBOTICCONTROLLERSEMPLOYANEMERGENCYSTOPALGORITHMTHATBYPASSESTHETRAJECTORYPLANNERANDITS16MSESCYCLETIMEANDEXECUTESCONTROLLEDSTOPROUTINESINFIRMWARETHISPOWERSDOWNEACHAXISTOACONTROLLEDSTOPINAFEWMILLISECONDSTHISFASTBUTCONTROLLEDEMERGENCYSTOPCANBECONTRASTEDWITHTHETECHNIQUEUSEDBYMANYGENERALPURPOSEMOTIONCONTROLLERSTHESIMPLERAPPROACHISTOJUSTDRIVEALARGEMOMENTARYSURGEOFNEGATIVEHALTPOWERTOTHEAMPLIFIERTHISCERTAINLYSTOPSTHEPOSITIONINGEQUIPMENTBUTINTHECASEOFAROBOT,ITCOULDEASILYSNAPOFFAWRISTMECHANISMIFTHEREISENOUGHINERTIAFINALLY,ROBOTCONTROLLERSEMPLOYOTHERSAFETY,MEASURESTHATARECOMMONLYFOUNDINNCEQUIPMENTBUTWHICHARERAREINMOREGENERALPURPOSEPOSITIONSFOREXAMPLE,LOSSOFENCODERFEEDBACKWILLGENERATEANEMERGENCYSTOPDITTOFORREACHINGEND–OF–TRAVELLIMITSTHESELIMITSMAYBESETEITHERBYHARDWARELIMITSWITCHES,ORBYDECLARINGPOSITIONSOFTHEROBOTWORKENVELOPOFFLIMITS外文文献翻译自动控制器对于运动的一个很久的处理是如何去辨别自动控制与通用的一般的运动设备的不同之处。最近出现了一个令人感兴趣的情况,一个制造者尝试给一条组装线设置一个辨认系统。这目的是为了用一个监控系统去找到正在移动的物体。那时,一个机器人手臂作每次取它们中间的一个出来的动作。这时,工程师们孜孜不倦地去计算多众相关的各个位置运动的假设因素。最后,这些结果和运动影像用照相机照下来。这些假设的因素让动作控制器推理出其物理的位置,部分位置的数据是来自虚拟系统数据,那时直接控制手臂到正确的位置来取出它们之中的一件。但问题就是,各种相关联的位置必须在每次工作和维修后回到同一线位置。这些如此细致的计算的数据变得无用的,这需要重新计算新的移位。最主要的困难是不理解一些基本的原理,是如何区别一般大致的运动和众多的特殊的自动控制运动,这两者看起来是相类似的,通常使用PENTIUM信息处理器或者使用HYBIRD处理器配备一个普通的CPU的信息处理机专门用于处理一个或者更多数字信号。然而,自动控制器的软件结构与通用的运动设备是不相同。首先,辨别运动控制的软件,其大致由闭环位置和速度控制,操作协调职责和协调监督这些常规的程序来控制工作。一个最重要的情况必须记下来,就是监督协调的程度如何。这种连接和操纵相关联的监督工作不是简单的延伸发出位置要求和常规的单轴程序。另一种说法,这种监督程序的程度是相对简单的。自动控制器的监督系统是更加复杂的。首先,很多自动控制系统反馈信息到高级的传感器,这些传感器是设置在单独轴的位置,反馈的数据记录。典型的

注意事项

本文(外文翻译--自动控制器.doc)为本站会员(英文资料库)主动上传,人人文库网仅提供信息存储空间,仅对用户上传内容的表现方式做保护处理,对上载内容本身不做任何修改或编辑。 若此文所含内容侵犯了您的版权或隐私,请立即通知人人文库网(发送邮件至[email protected]或直接QQ联系客服),我们立即给予删除!

温馨提示:如果因为网速或其他原因下载失败请重新下载,重复下载不扣分。

关于我们 - 网站声明 - 网站地图 - 资源地图 - 友情链接 - 网站客服客服 - 联系我们

网站客服QQ:2846424093    人人文库上传用户QQ群:460291265   

[email protected] 2016-2018  renrendoc.com 网站版权所有   南天在线技术支持

经营许可证编号:苏ICP备12009002号-5