CAJ | 학술논문

主要介绍了自动取盖和封盖机械手的技术实现，研究了轨迹规划、数据通讯、软件开发等关键技术。该机械手能够进行手动、自动两种方式的操作，实现了在无人条件下取、封桶盖的过程，使危险环境下的作业变为可能。系统通过双PLC和运动控制模块实现伺服驱动和过程控制，通过上位机实现整个过程的监测。
주요개소료자동취개화봉개궤계수적기술실현，연구료궤적규화、수거통신、연건개발등관건기술。해궤계수능구진행수동、자동량충방식적조작，실현료재무인조건하취、봉통개적과정，사위험배경하적작업변위가능。계통통과쌍PLC화운동공제모괴실현사복구동화과정공제，통과상위궤실현정개과정적감측。
This paper describes the technology of an automatic robot to take cover and uncover ,and gives the detail about the main techniques such as robot trajectory planning ,data communiacation and software development .The robot can operate manually and automatically ,and makes the operation in the hazardous environment possible to take or seal the lid .The system realizes servo control and process control through double PLC and motion control unit ,and the whole process is monitored by PC .