基于工控机的开放式教学机器人运动控制器  

Open-architecture Motion Controller of EDU Robot Based on IPC

作　　者：朱勇勇[1] 栾楠[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《机电一体化》2007年第3期74-77,共4页Mechatronics

摘　　要：基于工控机开发的运动控制器在满足教学机器人一般特点的同时,着重于其开放性的开发。其开放性可大致体现在软件系统和硬件系统两方面。软件系统方面,采用uC/OS-Ⅱ实时内核,并可进行软伺服控制;硬件方面,由于该控制器同时具有模拟量指令和脉冲指令两种输出,可兼容步进电机和伺服电机,并具备对伺服电机进行位置、速度和力矩等多种模式控制的功能。The motion controller this paper introduced is based on IPC and can satisfies a common EDU robot but lays emphasis on its open-architecture. The open-architecture can be embodied by both softare and hardware system. The software system adopts the real cornel uC/OS-Ⅱ as operation system and has servo control ability, the hardware system guarantees the controller can be applied to both stepper motor and servo motor and control servo motor with position, speed or torque mode for it has both analog signals and pulse output.

关 键 词：开放式 软伺服 运动控制器 教学机器人 

分 类 号：TP242-4[自动化与计算机技术—检测技术与自动化装置]