全数字机器人伺服控制系统的研制

Design of Full Digital Servo-control System on Robot

文章叙述了机器人伺服控制系统的硬件设计和实现;以工控机为核心,在位置反馈信号采集调理过程中对单片CPLD进行多通道扩展以简化系统结构,并通过对速度回路和位置回路的信号的全数字采样,有效的提高了伺服控制精度及工作稳定性;因此该系统具有结构简单、成本低廉、性能可靠等特点。

The design and implementation of the servo--system hardware on robot are introduced. Taking the industrial computer as the kernel, and extending the multi--channel in one piece of CPLD , the system structure is simplified, the servo--control precision and working stability is improved effectively by the full digital sample of the signal for speed circuit and position circuit. So the advantages of the system are simple, low - cost and stable.