一种机器人绘字控制系统的研制  

Development of a kind of robot descript control system

作　　者：谢光辉[1] 梁锡昌[1] 李伟[1] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044

出　　处：《制造业自动化》2007年第2期60-62,共3页Manufacturing Automation

摘　　要：简略阐述了一种机器人绘字系统的主要外形结构及其功能;详细论述了该控制系统控制器的硬件设计,它采用上位机PC与基于CAN总线的下位机通信来控制系统,该控制器主要包括PCICAN卡、dsPIC30F 6010数字信号控制器和各轴伺服舵机驱动模块。本文还讲述了PCI-9840卡的性能、dsPIC30F6010数字信号控制器的特点、机器人绘字系统四个自由度所需伺服舵机驱动模块的基本电路组成原理、基于VB6．0的上位机监控软件设计以及下位机软件的设计。This article shortly introduces the main shell structure and function of a kind of robot descript control system. It deals with hardware design of the control system＇s controller,and it is in work through communication by using the main PC and secondary controlling device based on CAN bus. All contents include PCICAN block, dsPIC30F6010 Digital Siganal Controller and each axis servo motor driver module.And the article narrates the performance of PCl- 9840 block,the trait of dsPIC30F6010 Digital Siganal Controller, the fundamental circuit＇s principle of each axis servo motor driver module about robot descript control system, the design of the main PC monitoring software based on VB6.0 and design of software of the secondary controlling device.

关 键 词：CAN总线 数字信号控制器 运动控制 光电隔离 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]