机器人关节电机功率放大器的设计与实现

Design of a power amplifier and its implementation for robot joint motors

研究了用于Movemaster EX机器人的一种高性能低成本的电机功率放大器 ,对其中的关键问题进行了讨论 ,给出了一种简单实用的电流控制方法 .通过运动控制实验验证了放大器的性能 .实验结果表明 ,放大器可以较好地满足系统的要求 ,结构简单 ,成本低 ,对其他系统设计有一定的参考价值 .

The design of a power amplifier for the Movemaster-EX robot was presented. Some key problems were discussed and a method for current control proposed. The motion control experiments were carried out to test the amplifier. The results indicated that the amplifier could meet the control requirements with simple configuration and low cost, and should be helpful to the designs of other systems.