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结合 FMS实际需求 ,介绍了换刀机器人控制系统的体系结构、系统组成及工作方式 ,详细说明了示教、再现及伺服控制的实现 ,在 Windows98多进程环境下实现换刀机器人各种运动控制功能
Combined with the actual demand of FMS, the system structure, system composition and working mode of the robot-controlled system of tool changer are introduced. The realization of teaching, reproduction and servo control are described in detail. Various motion control functions of tool change robot are realized in Windows98 multi-process environment