【摘要】 本文对目前在机器人课程教学中应用的ROBOT—1型示教,再现教学机器人的操作和控制系统进行了分析。采用职能方框图给出了操作系统的链表式层次操作结构,说明了这种操作结构具有透明度高、便于操作和教学直观的特点。在控制系统的分析中,介绍了该机器人母、子计算机配接步进电机的双级计算机控制系统的基本构成;指出了该机器人不适合于采用闭环方式进行关节控制的机器人教学。更多还原

【Abstract】 In this paper the operation and control system of Robot—1 type teaching and playback robot used in the present-day robot course teaching is analysed. Function block-diagram presents the chain level operation structure having the features of transparent high, operation easy and teaching audio-visual for the operation system. In analysing the control system, the basic constitution of twin-stepped calculation control system of robot’s mother-and subcomputer fitting stepper motor is introduced. It is pointed out that this kind of robot is unsuitable for robot teaching that usea the way of closed ring to conduct articulated control.更多还原