全数字式机器人控制系统的设计与实验研究

A FULL DIGITAL CONTINUOUS PATH SERVO CONTROL SYSTEM FOR D.C MOTOR-DRIVEN ROBOT MANIPULATORS

我们在实验室研制了一个针对直流电机驱动的关节式机器人的全数字式连续轨迹控制系统,并利用美国RHINO教学机器人的机械操作部分进行了实验研究,取得了比较满意的结果。本文主要介绍了这个系统的软硬件结构和工作原理,说明了实验方法并给出了实验结果,还讨论了控制系统的数字化所要考虑的些问题。

We developed a full digital continuous path servo control system for D.C.motor-driven robotmanipulators in our lab.The experiment of the control system has been done satisfactorily on controllingthe first three joints of the educational robot RHINO.This paper introduces the constructions of thesystem's hardware and software,and the procedure of working.The paper also gives out the result of exper-iment and discusses some questions which should be considered when digitizing a control system.