基于步进电机的工业取料机械手的定位控制  

The position control of industrial manipulator based on stepper motor

作　　者：周鸿杰[1,2] 骆敏舟[1] 

机构地区：[1]中国科学院合肥智能机械研究所,安徽合肥230031 [2]中国科学技术大学自动化系,安徽合肥230027

出　　处：《自动化与仪器仪表》2010年第1期123-125,共3页Automation & Instrumentation

摘　　要：给出了步进电机控制的工业取料机械手定位方法,给出了符合实际情况的电机升降速曲线图和软件实现方法。最后,通过实验证明了该方法精度高、稳定性好,目前该方法成功运用于工业取料机械手。This paper give the positioning methods of manipulator controlled by stepper motor, and give the frequency-rising and frequency-falling speed curve of motor in line with the actual situation, and software implementation are given. Finally, experiments proved that this methods have high precision and good stability. The method is successfully applied to manipulator delivery in industrial now.

关 键 词：步进电机 机械手 定位控制 

分 类 号：TM341[电气工程—电机]