PUMA760基于红外接近觉控制与编程实验系统

本文介绍 PUMA760 工业机器人基于红外接近觉传感器信号控制与编程实验系统。提出了搜索信号极值确定基准相对位置的方法,在位置控制系统中加入了基于传感器信号控制的指令,使 PUMA760完成了快速寻找、接近、定位和抓取非完全固定方位和高度的工件的动作.

This paper gives such a method for locating the position of the object by searching out the point of aximum sensor signed.The command of the control based on sensor signal is put into the position con-trol system and thus enables PUMA760 to finish all searching movemcnts very quickly.Mcanwhile an ob-et with unknown orientation and height may be locatcd and grasped.