机器人舵机控制精度研究  

Research on Control Accuracy of Robot Servo

作　　者：陈超然 邓勇 黄东 CHEN Chao-ran;DENG Yong;HUANG Dong(Shantou Polytechnic,Shantou 515078,China)

机构地区：[1]汕头职业技术学院,广东汕头515078

出　　处：《机械工程与自动化》2024年第5期32-34,37,共4页Mechanical Engineering & Automation

基　　金：广东省科技创新战略专项(大专项+任务清单)项目(STKJ2023074)。

摘　　要：针对传统51单片机对舵机控制精度不足的问题,以一个六自由度机器人的运动控制实验为例进行研究。该实验以STC89C52单片机作为控制器,根据常规的舵机控制方案进行编程,使I/O口产生PWM信号,驱动机器人关节舵机转至目标位置。然后观察实验误差现象,再利用示波器对PWM信号进行检测和误差分析。最后在不改变任何硬件的情况下,通过改进控制程序,提高传统51单片机对舵机的控制精度,同时使传统51单片机的工程适用性更加全面和完善。Aiming at the problem of low control accuracy of traditional 51 MCU for servos,a motion control experiment on a six-degree-of-freedom robot was used for research.The experiment used STC89C52 as the controller and was programmed according to the conventional servo control scheme.The I/O ports generated PWM signals to drive the six servos to their target positions.For the experimental errors,the oscilloscope was used to detect the PWM signals and then an error analysis was executed.Finally,the control program was improved to increase the control accuracy of traditional 51 MCU for servos without changing any hardware.At the same time,the engineering applicability of traditional 51 MCU become more comprehensive.

关 键 词：机器人舵机 控制精度 51单片机 STC89C52 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP368.1[自动化与计算机技术—控制科学与工程]