视窗环境下水轮机修复机器人操控系统的开发

Development of the Operating and Control System for Turbine Blade Repairing Robot Under Windows Environment

针对水轮机修复机器人涉及到大量实时计算和方便灵活的操作界面等方面的问题,采用一种基于专用DSP芯片的运动控制器PMAC卡嵌入通用IPC机构成一种典型的前后台结构的操控系统,使得开发出的操控系统具有友好的人机界面和良好的实时性。实践证明,该操控系统具有轨迹行程精确、响应速度快、控制精度高等优良性能。

In order to solve the problems of turbine blade repairing robot, such as the convenient and flexible operating interface and real time calculation, a typical operating and control system is built with the mode of DSP motion controller, called PMAC. As a result, the developed operating and control system has a good man-machine interface and excellent capability of real-time. It has been proved practically that the operating and control system achieves some excellent capabilities such as precise trajectory, little responding time, high precision in fixing position.