摘要
舵机控制器在机器人控制技术中有重要应用,其性能优劣直接关系到多舵机系统能否正常工作。为解决采用控制芯片设计的舵机控制器多路数输出和高精度之间的矛盾,设计了一种新的舵机控制器,硬件采用高性能STC15F2K60S2单片机,在最大限度内缩短了中断服务时间,PWM波控制精度可达0.5us;软件采用分时复用思想,PWM波在20ms的信号周期内输出路数多达32路。经仿真软件验证,该设计在保证控制路数足够多的前提下极大提高了控制精度,并成功应用于7自由度持镜机械臂控制。
The steering gear controller plays an important role in robot control technology,and it has a direct influence on the multi-steering system.In order to solve the contradiction between multi-controlling channels and low accuracy of the steering gear controller,we adopt controller IC to design a new type of steering gear controller.The high-performance STC15F2K60S2 microcontroller is used to shorten the time of the interrupt service to the maxium.The control precision of PWM wave can reach0.5us.The thought of time-sharing is adopted to produce no more than 32 PWM channels in 20 ms signal period.The simulation software verifies that on the premise of enough controlling channels the new design greatly improves the controlling precision and can be successfully applied in controlling seven-DOF endoscope arm.
作者
姚强
王亚刚
YAO Qiang;WANG Ya-gang(College of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《软件导刊》
2018年第6期132-135,共4页
Software Guide
