针对搬运机器人的运动特点设计集上下左右移动、前后翻转等运动的任务模式，基于西门子S7-200型PLC针对运动模式设计相应的逻辑控制系统，采用Setup154C(E2)对机器人关节电机进行数据监控，结果表明所设计的逻辑控制系统是有效的，实现了机器人的精确取料与搬运。%Task models are designed based on the movement characteristics of handling robots, the corresponding logic control systems are designed based on Siemens S7-200 PLC, and data monitoring are conducted over robot joint motor base on Setup154C (E2). The results show that the design is effective and accurate feeding and handling can be realized with it.
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