摘要
针对仿人机器人手臂模块化关节的结构与性能要求,设计出一种成本低、结构紧密、耦合性能好且适用于工程实践的环形伺服驱动控制系统。该系统主要由MFC控制界面发送指令,通过USB CAN与主控芯片STM32进行通信,由STM32完成PID控制专用运动控制芯片LM629并监视其反馈信息。实验结果表明,该系统结构稳定、合理、可行。
A low-cost, compact-sized and high-coupling ring servo drive control system is designed for humanoid robot arm modular joint structure and performance requirements. The system sends instructions from MFC control interface to master control chip STM32 by USB CAN converter. Then STM32 completes the PID control of the special motor control chip LM629 and monitors the feedback information. The experimental result shows that the system structure is stable , reasonable and feasible.
出处
《微型机与应用》
2014年第15期1-2,6,共3页
Microcomputer & Its Applications
