摘要
以工业级计算机IPC和DSP作为喷涂机器人的控制器,设计了一种基于可编程多轴控制器PMAC(Programmable Mul-ti-Axis Controller)的开放式机器人控制系统。系统采用双微机分级控制方式和模块化结构软件设计,上级IPC负责系统管理和路径规划,下级PMAC则实现对各个关节的位置伺服控制和多个关节的协调控制,满足了喷涂机器人实时性控制的要求。系统采用电流、速度为内环,位置为外环的三层半闭环的关节运动伺服控制方法,保证了关节的位置精度。
An open architecture of robot control system based on PMAC was designed with IPC plus DSP structure. With bi-micro-processor two level structures applied and modular software designed, high level IPC was in charge of path planning and system management, while low level PMAC executed position servo control of signal joint and coordinated control of several joints. The system had met the requiring of real-time control. The current, velocity and position three close loop control way was applied in the robot joint control, and which ensured position precision of joints.
出处
《微计算机信息》
北大核心
2008年第26期175-176,181,共3页
Control & Automation
基金
2005年粤港关键领域重点突破项目(200549823)
