摘要
针对如何提高机械手的自动化与智能化程度,特别是自主识别、判定目标并做出响应的问题,提出了基于TK-A6六自由度机械手和LD1501-MG数字舵机的工业机械手控制系统的设计。硬件方面从控制系统组成,控制方案和单片机选型三个方面叙述了设计中控制系统的总体设计方案,并给出了软件的设计思路和流程图。经过调试,不仅完成了目标识别的任务,识别时间在500ms以内;而且完成了机械手抓取固定位置货物的功能与货物分装的功能。
Aiming at how to enhance the degree of mechanization and intelligence, especially in pattern recognizing, identify targets and finally response to them. the control system design of industrial robot based on TK-A6 six degrees of freedom ma-nipulator and LD1501-MG digital servos. Hardware from the overall design schedule of three aspects of control system compo-sition, control scheme and MCU selection is discussed, and the software design concept and flow charts of this system are presented. After debugging, not only the target recognition task is completed ,whose recognition time is within 500 ms, but al-so the function of grabbing a fixed position and the function of the goods packing are completed.
出处
《机械研究与应用》
2016年第2期135-137,140,共4页
Mechanical Research & Application
