五自由度工业机器人控制系统设计

Design of Control System for Five Degree of Freedom Industrial Robot

针对工业机器人控制系统开放性较差、成本较高的问题,采用"DSP+FPGA+PC"的架构设计一个开放的、高性价比的工业机器人控制系统,其中以PC作为人机交互设备,以DSP和FPGA作为运动控制器。在完成控制系统的软硬件基础上,控制系统成功应用于自主设计的五自由度工业机器人,实现了注塑机的下料任务。具有较高的开放性、较低的成本、良好的性能和可操作性。

To solve the poor openness and high cost of industrial robot control system,this paper uses“DSP+FPGA+PC”to design an open control system with high cost performance for the industrial robot.PC is used as human-computer interaction device,while DSP and FPGA are used as motion controller.On the basis of its hardware and software design,this system is successfully applied to the five degree of freedom industrial robot which is designed independently,which is used to implement the unloading task of injection molding machine.It is characteristic of low cost openness,perfect performance and operational feasibility.