应用单片机进行多自由度机械臂控制系统设计

Design of Robotic Arm Control System of Multiple Freedom Degrees Using SCM

机器人(臂)是机械技术、电子技术和信息技术有机结合的产物。机械臂的优点众多,其中最为显著的是其精确性和高效性。而要实现这些优点,作为机械臂的大脑——机械臂的控制系统则显得尤为重要,拌随着微电子技术的日趋成熟和控制方法的不断改进,以单片机作为控制系统也变得更为简单和方便。介绍了基于单片机(STC12C5A60S2)采用脉冲调制技术(PWM)控制舵机达到控制多自由度机械臂,其工作原理以及控制系统的设计(包括硬件电路设计和C语言进行软件设计),为今后开发更加复杂且功能更为强大的现代机械臂奠定了基础。

Robotic arm is a product of combination of mechanical technology,electronic technology and information technology.Mechanical arm has many advantages in accuracy and efficiency.To achieve these advantages,manipulator control system and the brain of a mechanical arm are particularly important,and single chip micro computer(SCM)as a control system has become more simple and convenient with the maturation of microelectronics technology and continuous improvement of control methods.This paper introduced ways to control robot arm of multiple freedom degrees using pulse modulation technology(PWM)based on SCM(STC12C5A60S2)by controlling the servo,working principle and control system design(including hardware circuit design and software design using C language),laying foundation for the development of more complex and powerful modern robotic arms in the future.