【摘要】 针对UR机器人的远程控制问题,设计了一种UR机器人的远程控制方法。首先,研究了UR机器人的编程控制方式以及基于TCP/IP协议的接口。然后,剖析了URScript语言中的运动控制命令以及不同接口反馈数据包的形式。最后,通过MATLAB平台验证该方法对UR机器人的运动控制,实现了末端正弦轨迹跟踪,解析了反馈数据包并且完成了对机器人的状态监控,验证了本方法的正确性和有效性。更多还原

【Abstract】 Aiming at the remote control of Universal Robots, the remote control method of Universal Robots is designed. Firstly, the programming method of Universal Robots and the interfaces based on the TCP/IP protocol of Universal Robots are studied. Then, the motion control orders in the URScript programming language are analyzed and the feedback data packages are explicated it is returned from different ports. Finally, the motion control of Universal Robots is implemented on Matlab. The sinusoidal trajectory of robot is achieved, the feedback data packets are analyzed and the robot state is monitored, the correctness and effectiveness of the method is verifi ed.更多还原