为解决一般六自由度工业度机械臂的控制器存在的兼容性低、人机界面单一且编程语言差异大的不足,提出一种基于CPAC(computerized programmable automation controller,计算机可编程自动化控制器)控制机械臂的方式,以六自由度机械臂为实验平台,利用CPAC控制器的人机界面中三点法建立与摄像机一致的世界坐标系,通过Harris角点匹配与PnP法获取目标的位姿信息,利用CPAC编程语言OtoStudio的函数库解算各个关节轴转动的角度,并利用“最短行程”加权获得关节轴的最优角度,最终驱动机械臂末端执行器可靠动作并到达目标点,完成预设动作.通过实验可以看出,与一般的控制器相比较,CPAC具有可靠的I/O控制、编程环境标准、人机界面丰富友好的特点;并验证了这种控制模式的可行性,实现了对六自由度机械臂的联合控制,为六自由度机械臂的实时控制模式提供了新的思路.%In order to solve the problem that the control of the industrial robot arm with six degrees of freedom is low,the man-machine interface is simple and the programming language is different.Put forward a kind of a way of controlling the manipulator based on CPAC (computerized programmable automation controller).With six degrees of freedom manipulator as the experimental platform,Using the three point method of the CPAC controller to establish a world coordinate system,Obtain the position and orientation information of object by Harris comer matching and PnP method,using CPAC programming language OtoStudio function library to calculate the angle of rotation of each joint shaft,and using the "shortest path" to obtain the optimal angle of the joint axis,the end effector of the manipulator is driven to perform reliably and reach the target point finally.Experimental results show that compared with the general CPAC controller has the characteristics of reliable I/O control,programming environment standard,rich human-machine interface friendly,and verify the feasibility of this control mode,to realize the joint control of the robot arm with six degrees of freedom,six from the real-time control mode of mechanical arm provides new ideas.
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