Motion control of industrial robot SV3 based on ACL-Win

Author

Wang, Jingzhuo ; Gong, Chenglong

Author_Institution

Sch. of Electron. Eng., Huaihai Inst. of Technol., Lianyungang

fYear

2008

fDate

1-3 Sept. 2008

Firstpage

117

Lastpage

122

Abstract

To stay competitive, factories are increasingly automating their production lines with computer integrated manufacturing (CIM) systems. A CIM cell is an automated assembly line that uses a network of computers to control robots, production machines, and quality control devices. Industrial robot and robotic technology becomes more and more important in modern enterprises. Many robots are driven by AC servo electromotor or DC electromotor in order to improve dynamic characteristics of robots and increase reliability. This paper introduces a kind of new industrial robot, Performer SV3 with 6 degrees of freedom. Its controller is with 32 bits CPU. This kind of robot can be operated under 3 kinds of coordinate system: joints, world XYZ and tool coordinate system. Its controller can communicate with PC easily by RS 232 port. The robot can be controlled by program designed with ACL-Win and teach pendant. Finally the motion control of SV3 is implemented by using ACL-Win.

Keywords

assembling; computer integrated manufacturing; industrial robots; motion control; production control; quality control; robot dynamics; robot programming; 6 degrees of freedom; AC servo electromotor; ACL-Win; CPU; DC electromotor; Performer SV3; RS 232 port; automated assembly line; computer integrated manufacturing systems; dynamic characteristics; factories; industrial robot; joints coordinate system; motion control; production lines automation; production machines; quality control devices; robot reliability; robots control; teach pendant; tool coordinate system; world XYZ coordinate system; Computer integrated manufacturing; Electrical equipment industry; Industrial control; Machinery production industries; Manufacturing industries; Motion control; Robot kinematics; Robotic assembly; Robotics and automation; Service robots; ACL-Win; CIM; Industrial Robot SV3; Motion Control; Servo Electromotor;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on

Conference_Location

Qingdao

Print_ISBN

978-1-4244-2502-0

Electronic_ISBN

978-1-4244-2503-7

Type

conf

DOI

10.1109/ICAL.2008.4636131

Filename

4636131