基于PMAC下SCARA机器人的PID参数调节

Calibration of the PID parameters in the SCARA robot based on PMAC

本文介绍了在使用美国Delta-Tau公司的PMAC控制卡对四轴SCARA机器人进行PID参数调节过程中所遇到典型问题,以及解决方法。

In this paper,we present some representative prob-lems that we have faced during the PID parameters' calibration of the SCARA robot,and also report on our experience in solv-ing these problems.