| 机械臂控制实验系统研究 |
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| 引用本文： | 胡幸江,陈国定.机械臂控制实验系统研究[J].机电工程,2010,27(1):91-93. |
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| 作者姓名： | 胡幸江 陈国定 |
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| 作者单位： | 浙江工业大学信息工程学院,浙江,杭州,310023 |
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| 基金项目： | 2008年浙江省大学生科技创新资助项目(浙工大4号) |
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| 摘 要： | 针对机械臂在教学实验方面的应用相对欠缺这个问题,介绍了一种实验用多自由度机械臂计算机控制系统。系统由上下位机两级组成,下位机实现关节电机伺服控制、机械臂运行参数自动检测及与上位机的通信。上位机通过视频图像识别技术来规划运动路径,下传命令至下位机,实现自动循迹、工作状态实时显示、指定颜色或形状物体自动抓取等功能。实验结果表明,该系统达到了预期功能。
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| 关 键 词： | 多自由度机械臂 关节伺服控制 自动循迹 比例积分微分控制 串口通信 |
Research of robot arm control system for experiment |
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| HU Xing-jiang,CHEN Guo-ding.Research of robot arm control system for experiment[J].Mechanical & Electrical Engineering Magazine,2010,27(1):91-93. |
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| Authors: | HU Xing-jiang CHEN Guo-ding |
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| Affiliation: | College of Information Engineering;Zhejiang University of Technology;Hangzhou 310023;China |
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| Abstract: | Aiming at the robot arm for experiment was applied too little,a robot arm control system for experiment was introduced in this study.The system was controlled by PC and under controller.The joint servo motor was controlled by under controller,and the real-time operating parameters were uploaded to the PC.The movement path was planned by PC through video image recognition technology,and the commands were downlinked to under controller.Automatically tracking,the working conditon displaying and the designated ... |
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| Keywords: | multi-freedom robot arm joint servo control automatically tracking PID control serial communication |
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