电磁驱动微小型机器人控制系统的研究

Study of Electromagnetic Driving Micro Robot Control System

介绍了一种新研制的电磁驱动微小型机器人的原理和控制系统，阐述了如何通过计算机来控制微机器人的运动参数，对数据进行采集分析，并较好地实现了人机通信。该系统主控制器是一台内插ＰＣ－６３１５模入模出接口卡的计算机，用来产生驱动机器人的波形信号，并同时对运动参数进行采集分析处理，实时改变驱动信号以达到最优控制。

This paper describes the theory and the control system of a newly typed electromagnetic micro robot.It gives out how to use the computer to control the micro robot,and analysis the data collected.The main controller of this system is a computer with a PC 6315 A/D,D/A card.It can gives actuator signal,and collects the motive data in real time.These data will be analyzed by the computer after A/D transition so as to change the drive signal to realize the optimal control.