摘要
介绍了SCARA型环保压缩机装配的装配机器人中基于DSP的伺服控制系统,阐述了基于工业PC和运动控制器的分布式控制结构体系实现系统的控制和作业管理及采用PID算法实现各关节的伺服控制,完成各关节的运动规划。
The servo system based on DSP used in SCARA robot built for the assembly of environment protective com2 pressor is introduced in this paper. The distributed control architecture systembased on IPC and motion con2 troller achieving controlling for system and job management is expatiated, and the PID algorithm adopted to accomplish the servo control and motion planning of all joints is also described.
出处
《制造技术与机床》
CSCD
北大核心
2005年第4期27-29,共3页
Manufacturing Technology & Machine Tool
