摘要
分析轻工包装机器人运动控制系统的特点,提出一种低成本、高性能的专用运动控制系统,并进行了软硬件分析与设计。系统采用Cortex-M4内核的STM32F407为主CPU,运动控制芯片PCL6045BL为从CPU的主从CPU结构,将Cortex-M4在人机界面,通信接口与运动控制规划上的优势与PCL6045BL高控制精度的优点相结合。软件上通过移植μC/OS-II与μC/GUI实现实时系统运行与人机交互,编写相应的应用程序实现对机器人的控制,最后通过插补实验对机器人控制系统进行验证。
With the use of the light packaging robots in the pipeline, the development of the dedicated motion control system has the important significance. In this paper, a dedicated motion control system with low cost and good performance is proposed after the analysis of the features of light packaging robot motion control systems, and the hardware and software are analyzed and designed. The system uses the core STM32F407 of Cortex-M4 as the master CPU, and the motion control chip PCL6045BL as slave CPU, to combine the Cortex-M4 which has the advantages in the man-machine interface, communication interface and motion control programs strengths and the PCL6045BLcontrol which has the high precision. The real-time system operation and human-computer interation can be achieved by transplanting the μC/OS-II and μC/GUI, the robot control can be achieved by writting appropriate programs. The performance of the motion control system can be verified by experiments.
出处
《江南大学学报（自然科学版）》
CAS
2015年第3期289-294,共6页
Joural of Jiangnan University (Natural Science Edition)
基金
江苏省自然科学基金项目(BK20130159)
