摘要
机器人控制系统是影响机器人性能的关键部分之一 ,它在一定程度上影响着机器人的发展。本文介绍了基于 DSP的机器人控制系统的设计与实现技术 ,给出了系统的硬件结构及 DSP运行的主流程 ,并采用了一个改进的 PID伺服控制算法 ,最后阐述了系统的主要功能模块。该系统已成功应用于 FS6 0
The robot control system is one of the key components of a robot. It has great effect on the development of robots. In this paper, the design and implementation of the robot control system based on DSP are introduced. In addition, the hardware structure of the system and the DSP's main execution loop are presented. An improved PID servo control algorithm is also used. In the end, the system's main function modules are described. The system has been successfully applied in a 6 axes articulated robot named FS602.
出处
《机械科学与技术》
CSCD
北大核心
2001年第4期518-519,521,共3页
Mechanical Science and Technology for Aerospace Engineering
