title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ° ÑÐ²Ð°ÑÐ¾ÑÐ½Ð¾Ð³Ð¾ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²Ð°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Development of a control system for a robotic welding complex
Creators: name: Ð¡Ð°Ð²ÐµÐ»ÑÐµÐ², Ð¡ÐµÑÐ³ÐµÐ¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: ÐÐ¡Ð£ Ð¢Ð
Ð¸Ð½Ð´ÑÐºÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ²Ð°ÑÐºÐ°
ÐºÐ¾Ð¼Ð¿Ð¾Ð·ÑÐ¸Ð¾Ð½Ð½ÑÐµ Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»Ñ
ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐ¹ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑ
ÑÐ¾Ð±Ð¾Ñ-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ
ÑÐ²Ð°ÑÐ¾ÑÐ½Ð¾Ðµ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²Ð¾
ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
automated control system
induction welding
composite materials
robotic complex
robot manipulator welding production
control system

description: Ð Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ ÑÐ°ÑÑÐ¼Ð°ÑÑÐ¸Ð²Ð°ÐµÑÑÑ Ð¿ÑÐ¾ÑÐµÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐ¼ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ¾Ð¼ ÑÐ²Ð°ÑÐ¾ÑÐ½Ð¾Ð³Ð¾ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²Ð° ÐºÐ¾Ð¼Ð¿Ð¾Ð·Ð¸ÑÐ¸Ð¾Ð½Ð½ÑÑ Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»Ð¾Ð². Ð¦ÐµÐ»ÑÑ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ° ÑÐ±Ð¾ÑÐ° Ð´Ð°Ð½Ð½ÑÑ Ð² ÑÐ¾ÑÑÐ°Ð²Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÑÐ°Ð½ÐºÐ¾Ð¼ Ð¸Ð½Ð´ÑÐºÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ²Ð°ÑÐºÐ¸ ÐºÐ¾Ð¼Ð¿Ð¾Ð·Ð¸ÑÐ½ÑÑ Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»Ð¾Ð², Ð° ÑÐ°ÐºÐ¶Ðµ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÐÐ Ð´Ð»Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð¼ Ð´Ð»Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ³Ð¾ Ð²Ð½ÐµÐ´ÑÐµÐ½Ð¸Ñ ÐµÐ³Ð¾ Ð² Ð¿ÑÐ¾ÑÐµÑÑ ÑÐ²Ð°ÑÐºÐ¸. Ð ÑÐ°Ð¼ÐºÐ°Ñ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð° Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ°, Ð¸ Ð¿ÑÑÐºÐ¾-Ð½Ð°Ð»Ð°Ð´ÐºÐ° ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ° ÑÐ±Ð¾ÑÐ° Ð´Ð°Ð½Ð½ÑÑ ÑÑÐ°Ð½ÐºÐ° Ð¸Ð½Ð´ÑÐºÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ²Ð°ÑÐºÐ¸ ÐºÐ¾Ð¼Ð¿Ð¾Ð·Ð¸ÑÐ½ÑÑ Ð¼Ð°ÑÐµÑÐ¸Ð°Ð»Ð¾Ð² Ð½Ð° Ð±Ð°Ð·Ðµ ÐÐÐ ÐÐÐÐ 210, ÑÑÐµÐ´Ñ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ¸ CoDeSys 3.5 Ð¸ ÑÐ·ÑÐºÐ¾Ð² Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ ÑÑÐ°Ð½Ð´Ð°ÑÑÐ° ÐÐ­Ð 61131â3. ÐÐ°Ð»ÐµÐµ Ð² ÑÐ°Ð¼ÐºÐ°Ñ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð° Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐ¾Ð²Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Melfa 3SDB Ð¸ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¹ ÑÑÐµÐ¹ÐºÐ¸. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¹ ÑÑÐµÐ¹ÐºÐ¸ Ð±ÑÐ»Ð¾ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð¾ Ð¼Ð¾Ð´ÑÐ»ÑÐ½Ð¾Ðµ ÐÐ Ð½Ð° ÑÐ·ÑÐºÐ°Ñ MATLAB Ð¸ C# Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑÑÐµÐµ Ð¾ÑÑÑÐµÑÑÐ²Ð»ÑÑÑ Ð¸Ð½ÑÐµÐ³ÑÐ°ÑÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ñ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¹ ÑÑÐµÐ¹ÐºÐ¾Ð¹, Ð² ÑÐ°ÑÑÐ½Ð¾ÑÑÐ¸ Ð¿ÐµÑÐµÐ´Ð°ÑÑ Ð¿Ð¾Ð·Ð¸ÑÐ¸Ð¹ Ð¸ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¹, Ð¾ÑÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½ÑÑ Ð½Ð° ÑÐ¸ÑÑÐ¾Ð²Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð¼Ñ Ð¾Ð±Ð¾ÑÑÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ, ÑÐ´Ð°Ð»ÐµÐ½Ð½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼, ÑÐµÐ´Ð°ÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÐÐ Ð´Ð»Ñ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ° ÑÐ¾Ð±Ð¾ÑÐ° Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°, ÑÐ±Ð¾Ñ, Ð¸ Ð²Ð¸Ð·ÑÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² ÑÐ¾Ð±Ð¾ÑÐ°-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°.
description: In this paper, the process of developing a control system for a robotic complex for welding composite materials is considered. The aim of the work is to develop a data acquisition controller as part of the control system for an induction welding machine of composite materials, as well as the development of software for controlling a robot manipulator for further implementation into the welding process. As part of the work, the development and commissioning of the data acquisition controller of the induction welding machine of composite materials based on the OWEN 210 PLC, the CoDeSys 3.5 development environment and the programming languages of the IEC 61131-3 standard were carried out. Further, as part of the work, the development of a digital model of the Melfa 3SDB manipulator robot and a robotic cell was carried out. Based on the robotic cell model, modular software was developed in MATLAB and C# languages that allows the integration of the model with a real robotic cell, in particular, the transfer of positions and trajectories worked out on a digital model to real equipment, remote control of the robot, editing software for the manipulator robot controller, collection, storage, and visualization of the parameters of the manipulator robot.