一种工业四轴机械臂控制系统设计与实现

Design of One Kind Industrial Four-axis Manipulator Control System

进行了工业四轴机械臂的方案选择及设计,并应用单片机和外部电路发生PWM脉冲宽度调制波对四轴机械臂进行精确定点控制,使机械臂能完成一组从空间坐标系中提取坐标的高精度往返运动,实际应用中可用作生产线的物料搬运堆放和高频率强度的动作实现。该设计具有结构简便、性能稳定等优点,对现实工业生产具有极大的应用和参考价值。

This paper makes the choice and design for the industrial four axis manipulator,and uses the width modulation wave technique from the single chip microcomputer and external circuit to precisely control the four axis manipulator,the manipulator can complete a set of extracting coordinates from the spatial coordinates of the high precision reciprocating motion.In practical application it can be used in the production of material handling line stacking and high frequency strength action is realized.The design has the advantages of simple structure,stable performance and other advantages.