教学型六轴机器人的设计与控制  

Teaching Model of Six Axis Robot Design and Control

作　　者：王思睿 王镇高宇 张春雨 段超 周楷文 

机构地区：[1]南京工程学院工业中心及创新创业学院,江苏南京211167

出　　处：《工业控制计算机》2021年第3期90-92,共3页Industrial Control Computer

基　　金：江苏省自然科学基金项目(20KJA510007);江苏省大学生创新创业项目(201811276054X)。

摘　　要：直至目前,国内对于教学型六轴机器人的设计还不成熟,设计一款教学型六轴机器人,以Windows实时核与MATLAB组成上位机建立了机器人的视觉与轨迹控制。上位机通过CAN总线控制由DSP控制板和功率板构成的驱动器。用DSP中内置的CAN控制器,可使帧来源和帧意义被上位机和主节点识别。对机器人手臂的刚度、传动结构、驱动电机以及控制方式进行选取设计,使机器人运动更加平稳灵活,完成各种指派任务。Up to now,the domestic design of six-axis robots for teaching is still immature.A six-axis teaching robot is designed.The upper computer is composed of Windows real-time kernel and MATLAB to establish the robot's vision and trajectory control.The upper computer controls the driver composed of the DSP control board and the power board through the CAN bus.With the built-in CAN controller in the DSP,the frame source and frame meaning can be identified by the host computer and the master node.The stiffness,transmission structure,drive motor and control mode of the robot arm are selected and designed to make the robot move more stable and flexible and complete various assigned tasks.

关 键 词：六轴机器人 运动学方程 轨迹规划 机械结构设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]