NGR01型多关节机器人智能遥控器的研制  

Developing an Intelligent Remote Controller of NGR01 Multi-joint Robot

作　　者：徐开芸[1] 汪木兰[1] 饶华球[1] 张思弟[1] 

机构地区：[1]南京工程学院先进数控技术江苏省高校重点建设实验室,江苏南京210013

出　　处：《南京工程学院学报（自然科学版）》2006年第2期56-61,共6页Journal of Nanjing Institute of Technology(Natural Science Edition)

基　　金：南京工程学院科研基金项目(KXJ04043)

摘　　要：针对NGR01型5自由度多关节机器人三层电气控制系统的体系结构,基于单片微处理器研制出智能型遥控器,通过红外无线和RS-485串行有线两种通信方式嵌入第二层控制系统中,对机器人各个关节实行在线控制,同时在第一层计算机上进行虚拟重构,在遥控器的液晶显示器上动态实时显示机器人的运行状态.该遥控器可以用于机器人制造调试、示教再现和异地操作等工作场合,实际使用效果较好.According to the 3-level electrical control system structure of NGR01 5-freedom-degree multi-joint robot, an intelligent remote controller based upon the single-chip microprocessor is developed. The controller is embedded into the second sub-system, by way of infrared wireless mode and RS -485 serial communication, which can control all joints in time. The working state of the robot can be displayed on its LCD and virtually reconstructed on the first-level computer. The controller, which is expected to bring a satisfactory result, can be applied in the process of robot manufacturing, teach-in and remote manipulation.

关 键 词：多关节机器人 遥控器 微处理器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]