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《Journal of Agricultural Mechanization Research》 2016-12
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Robot Manipulator Design for Double Closed Loop Control——Based on PLC and CAN BUS

He Long;Chen Xiaolong;Department of Aeronautic Maintenance Engineering,Chengdu Aeronautic Vocational and Technical College;School of Electro - Mechanical Engineering,Xidian University;  
A new robot manipulator joint distributed control scheme is proposed based on the PLC motion controller and CAN BUS by using the double closed- loop control system. The robot joint motor control system CAN module and PLC controller are designed with the idea of modular design. The mechanical hand of the robot is used to adjust the joint of the robot hand. The signal acquisition is acquired by using the Holzer sensor and infrared sensor and the photoelectric encoder. The signal is acquired by the A / D converter and the signal is transmitted to the PLC controller. At the end of the manipulator,the CAN bus is used to control the communication signal,and the parallel control of the end effector is realized. At last,the feed forward control environment is added to the system based on the double closed- loop control scheme. The static performance of the system is improved. The results show that the robot is stable and reliable in operation.
【Fund】: 四川省教育厅自然科学基金重点项目(14ZA0309)
【CateGory Index】: S225;TP241.3
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