直接驱动机器人关节的DSP控制  

The DSP Control of Robot Direct-drive Joint

作　　者：祁广利[1] 张浩[1] 闫永志[1] 李宇[1] 

机构地区：[1]陕西科技大学机电工程学院,陕西西安710021

出　　处：《机床与液压》2008年第8期258-260,共3页Machine Tool & Hydraulics

基　　金：陕西科技大学自然科学基金项目资助(ZX05-31)

摘　　要：讨论了直接驱动机器人关节的DSP伺服控制的方法。首先根据已经设计好的机器人直接驱动关节建立一个驱动模型,然后选择合适的控制器和控制算法,建立一个以TMS320LF2407A为核心的DSP控制系统,实现了PWM波的产生,执行信号的采样和处理,机器人直接驱动关节转角位置的校正。为了检验已设计的伺服控制系统的功能参数,用MATLAB软件进行仿真,在考虑机械、电气性能的情况下实现对机器人直接驱动关节的伺服控制。A method of designing the robot direct-drive joint and its servo control based on DSP was introduced. The servo control system for the robot direct-drive joint was designed. A drive-model was established for the robot direct-drive joint first, and then choosing the appropriate controller and the right control algorithm, DSP one-chip computer control system was set up with TMS320LF2407A as the core, which realizes PWM wave, perform signal capture and processing, the angle adjustment of the robot direct-drive joint. In order to test the function parameters of the designed servo control system, the simulation was made with MAT- LAB, the servo control of the robot direct-drive joint was realized by considering the mechanics and the electrical performance.

关 键 词：直接驱动 DSP伺服控制 机器人直接驱动关节 TMS320LF2407A MATLAB软件仿真 

分 类 号：TM301.2[电气工程—电机]