Design of the Control System of 2-DOF Parallel Manipulator Based on CoDeSys

Ying Tang, Jinling Niu

Abstract


The 2-DOF parallel manipulator takes a parallelogram construction which can make its workbench always remain stable. Now
it is widely used in various industrial sites. In consideration of the construction features and the control demands of 2-DOF parallel manipulator,
this paper mainly introduces the motion control scheme and man-machine interface design of the manipulator. Based on the motion control
programming platform of CoDeSys, the motion control and simulation debugging of the 2-DOF parallel manipulator are realized.

Keywords


CoDeSys; two degree of freedom parallel manipulator; servo control

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References


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DOI: https://doi.org/10.18686/esta.v10i1.309

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