| 摘要 |
<p>The invention relates to a control method applied to an automated work cell which includes at least one robot arm (4) having at least three degrees of freedom controlled according to a plurality of control axes (A1-A6; X, Y, Z, Rx, Ry, Rz); a control centre (8); a device (6) for controlling the robot arm (4), which includes a plurality of motor controllers (61-66) each controlling the operation of one motor (M1-M6), suitable for operating at least one portion of the robot arm (4); and a communication bus (14) between the control centre (8) and the device (6) for controlling the robot arm (4). Said method includes steps that consist of: a) sending instructions (Cri) emitted by the control centre (8) to control the control axes to a single arithmetic unit (10) belonging to the device (6) for controlling the robot (4); b) determining, within the arithmetic unit (10) and according to instructions received from the control centre (8), orders (0̂) for each one of the motors controlled by a motor controller; c) sending each motor controller an order, determined in step b), for the motor controlled by said motor controller.</p> |
