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本文介绍了我国第一台微型机控制的多关节,电液伺服型喷漆机器人 PJ-1 的计算机控制系统的原理及软件。该系统以一台八位通用微型机为基础构成控制器。在单用户、多任务实时操作系统的支持下,采用软磁盘作为作业内容存储器,并把绝对位置量和采样间隔内的位移量进行组合存储。从根本上解决了喷漆机器人因作业记忆容量大带来的存储限制、
This paper introduces the principle and software of the computer control system of the first multi-joint, electro-hydraulic servo painting robot PJ-1 controlled by microcomputer in our country. The system is based on an eight-universal microcomputer controller. In the single-user, multi-tasking real-time operating system support, the use of floppy disk as a job content memory, and the absolute position of the amount of sampling and the amount of displacement in combination storage. From a fundamental solution to the painting job robot storage capacity due to large storage constraints,