一种多关节智能机械手臂控制系统设计  

A kind of control system design for multiple joint machine arm

作　　者：关智[1] 

机构地区：[1]沈阳职业技术学院计算机系,沈阳100045

出　　处：《机械设计与制造》2011年第12期52-54,共3页Machinery Design & Manufacture

摘　　要：在实际生产过程中,许多生产环境和工艺都要求机械手应具有准确定位和控制灵活的特性以满足生产,因而设计了多关节智能机械手臂模型,并通过工业现场总线CAN对其进行分布式控制。阐述了机械手臂的构成及工作原理,设计了4自由度的多关节机械手臂以及基于CAN总线控制系统的机械手臂总体控制流程,给出了CAN总线控制关节模块的硬件连接方案和软件编程内容。该设计提高了机械手的可靠性、智能性和控制精度。In the actual process ,the environment of production and technology require that mechanical should have the characteristic of accurate positioning and flexible control to satisfy production requirements.Therefare ,It designs the multi-joint mechanical arm model,and distributed control it through the industrial field bus CAN.Described the mechanical arm of the composition and working principle.It designs a 4-DOF multijoint robotic arm and control system based on CAN bus process overall mechanical arm.Hardware connectivity solutions and software programming content of CAN bus＇s joint control module are given.The design of the mechanical arm improves manipulator reliability,intelligence and control precision.

关 键 词：机械手臂 CAN总线 SJA1000控制器 PCA82C250 

分 类 号：TH16[机械工程—机械制造及自动化]