基于itop4412核心板的SCARA控制系统设计  

Design of SCARA control system based on itop4412 core board

作　　者：卢军[1] 胡凡[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：《制造技术与机床》2017年第1期94-98,共5页Manufacturing Technology & Machine Tool

摘　　要：针对自行研制的SCARA(selective compliance assembly robot arm)工业机器人设计一套专用控制系统。该控制系统以itop4412核心板为核心,以ARM芯片内部时钟中断为基础,利用Notepad++软件来编写模块驱动程序,并在Windows系统和Ubuntu系统下进行Linux内核的裁剪和编译工作。用户空间通过调用底层驱动以S形速度曲线实现对动机的启动、制动、调速等操作。实际测试表明,该控制系统性能稳定,控制精度高、实用性强。To design a set of special control system for self-developed SCARA（selective compliance assembly robot arm） assembly robot.The control system takes the itop4412 development board as the core,based on the internal clock interruption of ARM chip,used Notepad ＋ ＋ software to write module driver and completed the work of cutting and compilation of Linux kernel under the Windows system and the Ubuntu system.The user space can achieve the operations of starting,braking and speed regulating with S-shape speed curve for the motors by calling the bottom drivers.Practical tests show that the control system is stable performance,high control accuracy and strong practicability.

关 键 词：装配机器人 itop4412核心板 实时时钟中断 LINUX 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]