基于LabVIEW的四自由度机械臂运动控制系统设计  

Control System Design of 4-DOF Robot Arm Based on LabVIEW

作　　者：万志成[1] 陶俊[1] 张伟军[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机械与电子》2008年第3期51-53,共3页Machinery & Electronics

基　　金：上海市浦江人才计划资助项目(07pj14056)

摘　　要：采用NI公司的LabVIEW8.2作为开发平台,通过ADLINK支持LabVIEW的PCI-8134四轴运动控制卡,以及PCI-9114DG数字输入输出与模拟输入接口,来实现对于机械臂4个自由度的驱动控制,短期内实现四自由度机械臂(3台交流伺服电机、1台微型直流电机)的变参数同步运动控制,为钢丝传动机构的控制提供应用解决方案。This paper presented a solution of control system of 4 DOF robot arm which is used in materials handling system, and discussed about the working principle and design of the system in detail. With this design, not only the structure of robot arm becomes compact and simple, but also the weight is dropped;at the same time, the output power to do work is increased relatively. The robot arm is mainly designed with a simple and efficient wire driving structure so that all driving components could be configured on the fixed base which is far away from the relative joints.

关 键 词：机械臂 ADLINK 运动控制 Lab-VIEW 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]