工业机器人机械臂控制系统设计  

Design of Manipulator Control System for Industrial Robots

作　　者：蒋军[1,2] Jiang Jun(Xuzhou Branch of Jiangsu United Vocational and Technical College,Xuzhou,Jiangsu 221151;Jiangsu Xuzhou Technician College,Xuzhou,Jiangsu 221151)

机构地区：[1]江苏联合职业技术学院徐州技师分院,江苏徐州221151 [2]江苏省徐州技师学院,江苏徐州221151

出　　处：《造纸装备及材料》2020年第5期24-26,共3页Papermaking Equipment & Materials

基　　金：江苏联合职业技术学院立项课题“人工智能+背景下五年制高职机电一体化技术专业改造与创新”(B2020/10/161)。

摘　　要：纵观机器人的发展历程,控制器始终是其最为核心的一部分。随着微处理器的高速前行,市场上的设备类型和性能参数逐步增多,其性能已经可以适应机械臂的发展需要。基于当前协同机器人控制研究成果看,成本投入较高且运行稳定性难以达到预期目标均是制约发展的关键点。文章对此提出有效的优化方案,期望更好推动机械臂的发展。The controller has always been the core part throughout the development of robot.The type of equipment and performance parameter is gradually increasing in the market with the high-speed advance of microprocessor and its performance has been able to meet the needs of the manipulator development.Based on the current research results of collaborative robot control,the high cost input and the difficulty of operation stability to reach the expected goal are the key constraints to development.In this paper,an effective optimization scheme is proposed to better promote the development of the manipulator.

关 键 词：工业机器人 机械臂 控制系统 PID STM32 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]