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首页> 外文会议>Proceedings of the 6th European Embedded Design in Education and Research Conference >Interactive tool for mechatronic systems: Two industrial robot cases
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Interactive tool for mechatronic systems: Two industrial robot cases

机译：机电系统的交互式工具：两个工业机器人机箱

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摘要

In this paper, an industrial robot interface is presented. This is suitable for different subjects related to robotics including robot kinematics control systems and actuators. Hardware and software stages are depicted. Besides, as a manner to teach students to select and calculate electrical components for a robot, it is presented a retrofit of a commercial six-degree of freedom robot arm from Nachi. Also, it is shown the design of a PC-based interface that poses enhanced features as: generation of profiles, handling and tuning joints and measurement of the main parameters such as electrical torque. An attractive feature for industry applications that poses is the flexibility to be coupled to similar servo systems. The HMI developed increases the quality of a final application that makes it friendly when analyzing and setting in operation. In addition, it is demonstrated that a simple PID controller programed in a TMS320F28335, is sufficient to perform high accuracy tasks. Certain practices are proposed in order to support educative skills for industry mechatronic systems.
机译：在本文中，提出了一种工业机器人接口。这适用于与机器人技术相关的不同主题，包括机器人运动学控制系统和执行器。描绘了硬件和软件阶段。此外，作为一种教导学生选择和计算机器人电气元件的方法，还介绍了Nachi的商业六自由度机器人手臂的改造。此外，还显示了基于PC的界面的设计，该界面具有增强的功能，例如：轮廓的生成，操纵和调整接头以及测量主要参数（例如电转矩）。构成工业应用的一个引人注目的功能是与类似伺服系统耦合的灵活性。开发的HMI提高了最终应用程序的质量，使其在分析和设置操作时变得友好。此外，证明了在TMS320F28335中编程的简单PID控制器足以执行高精度任务。为了支持工业机电系统的教育技能，提出了某些实践。

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