基于TMS320LF2812多轴机械手的控制研究  

Research on the Control of Multi Axis Manipulator Based on TMS320LF2812

作　　者：李子昀[1,2] LI Zi-yun(School of Electromechanical Engineering,Yueyang Vocational Technical College,Yueyang,Hunan 414000;School of Automation,Central South University,Changsha,Hunan 410038)

机构地区：[1]岳阳职业技术学院机电工程学院 [2]中南大学自动化学院

出　　处：《岳阳职业技术学院学报》2019年第6期80-83,共4页Journal of Yueyang Vocational and Technical College

摘　　要：为了寻求多轴机械手快速稳定的运动控制,该文构建了基于数字信号处理器TMS320LF2812多轴机械手的运动控制系统。在硬件系统设计中采用了模块式的结构,软件系统设计实现了主程序与多个中断程序的结合。该设计使得多轴机械手各关节的运动独立稳定又合为整体,实现了多轴机械手的开放式运动控制。In order to seek the fast and stable motion control of the multi axis manipulator,the motion control system of the multi axis manipulator is built by the digital signal processor TMS320LF2812.The hardware system is designed by the modular structure,and also the design of software system achieves the combination of the main and multiple break programs,which makes the motion of each joint of the multi axis manipulator in independent and stable condition,and realizes the open motion control of the multi axis manipulator.

关 键 词：TMS320LF2812 多轴机械手 运动控制器 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]