CAJ | 학술논문

介绍了柔性制造系统（FMS）中用于搬运工件的串联机器人的设计与控制，包括机械结构、机器人控制单元的设计，以及实现FMS总控制单元对机器人进行的监控。并通过实际运行证明，基于FMS设计的串联机器人结构紧凑、灵活性好，完全能够满足系统的工作要求。
개소료유성제조계통（FMS）중용우반운공건적천련궤기인적설계여공제，포괄궤계결구、궤기인공제단원적설계，이급실현FMS총공제단원대궤기인진행적감공。병통과실제운행증명，기우FMS설계적천련궤기인결구긴주、령활성호，완전능구만족계통적공작요구。
The design and control of serial robot to transfer workpieces in the flexible manufacturing system (FMS)were intro-duced,which included the mechanical structure,the design of robot control units and implementation of monitoring and supervision by the total control unit of FMS.Through the practical operation,it shows that the serial robot based on FMS fully meets the requirement in the system with compact structure and well flexibility.