六自由度的机械手臂控制器设计

Six degrees of freedom mechanical arm controller design

六自由度的机械手臂可以代替人工,在蒸汽发生器中进行各项检修工作,在核电站的日常维修工作中有着重要的意义。本文对六自由度的机械手臂控制器进行了设计,分别介绍了控制系统中所需的硬件和软件系统,其控制过程采用积分PID法综合带死区PID法的控制算法,最后对二者进行了联合调试。结果表明所设计的系统稳定性和可靠性较高,可以达到应用所要求的精度和性能指标。

The mechanical arm of six degrees of freedom can replace artificial, for the repair work in the steam generator, the plant has important significance of daily maintenance work. This paper deals with six degrees of freedom mechanical arm controller design, the control system are introduced respectively in the required hardware and software system, its integral PID method is adopted in the process of comprehensive with dead zone PID control algorithm, and finally on the joint debugging. Results show that the system stability and reliability of the design is higher, the application can achieve the required accuracy and performance metrics.