机械手关节运动控制模块设计

Manipulator joint exercise control module design

以机械手腕关节为研究对象,选用LM629N芯片对机械手的关节运动控制进行设计,设置关节运动控制的轨迹参数,对LM629N校正滤波器和读写操作进行研究,设计出关节运动控制电路,组成关节伺服控制系统的一个模块,实现高精度位置控制的机械手关节半闭环控制。经过验证,节约了成本、达到了设计的要求,为机械手关节控制模块的设计提供了可借鉴的模式。

Taking mechanical wrist as the research object,manipulator motion control of joints is designed by using LM629N chip,trajectory parameters of joint exercise control is set.Calibration of filter LM629N and read-write operations are researched,a joint exercise control circuit is designed,which composed a module of joint servo control system,manipulator joint semi-closed-loop control has been achieved,which is high-precision position control.Through the experiment,cost is saved,design requirements are met,the model are provided for the teaching of manipulator joint exercise control module design.