| 双关节机器人操作臂控制系统设计 |
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| 引用本文： | 王慧东.双关节机器人操作臂控制系统设计[J].自动化技术与应用,2009,28(12):131-134. |
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| 作者姓名： | 王慧东 |
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| 作者单位： | 山西兰花煤化工有限责任公司,山西,晋城,048002 |
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| 摘 要： | 本设计针对工业现场使用的双关节机器人,主要完成了硬件系统平台构建和软件系统的设计。应用单片机技术,设计一款主从操作的控制器,能够根据旋转编码器的控制指令精确的控制电机的速度、位置、正反转等物理量,从而满足机器人操作臂精确位置伺服驱动的要求。
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| 关 键 词： | 机器人操作臂 控制系统 主从控制 |
Control System Design of robot manipulator with dual joints |
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| WANG Hui-dong.Control System Design of robot manipulator with dual joints[J].Techniques of Automation and Applications,2009,28(12):131-134. |
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| Authors: | WANG Hui-dong |
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| Affiliation: | WANG Hui-dong ( Lanhua Coal Chemical Industry Co. Ltd. of Shanxi Jincheng 048002 China ) |
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| Abstract: | For a robot manipulator with two joints which is used in industry,a control system consisting of hardware and software is developed.The MCU is applied to design a master-slave controller,which can run the motor with accurate position,velocity and positive or negative revolution.The precise location of servo drive requirements of the robot manipulator is satisfied. |
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| Keywords: | robot manipulator control system master-slave control |
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