NGR01型机器人电气控制系统设计  

Design of NGR01 robot electrical control system

作　　者：汪木兰[1] 饶华球[1] 徐开芸[1] 张四弟[1] 

机构地区：[1]南京工程学院,江苏南京210013

出　　处：《组合机床与自动化加工技术》2003年第4期57-59,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：江苏省教委自然科学研究基金项目 (99KJB460 0 0 6)

摘　　要：设计出多关节教学工业两用型机器人电气控制系统 ,采用三级结构的多CPU并行工作方式 ,其中第一级完成人机接口、运动学计算和整个系统管理功能 ,第二级完成通信、信息转发和示教接口功能 ,第三级实现各关节电机的控制。选用日本三洋公司混合式步进驱动系统 ,获得了较高的性价比。This paper introduces the electrical control system of multi-joint robot used for education and industry. The system employs three-level structure and several microprocessors work parallelly. The first-level computer can complete the function of man-machine interface, trajectory calculation and whole system management. The second-level computer can accomplish communication, information diversion and teaching-by-showing. The third-level computer can control all joints. Then the hybrid stepping motors of Japanese SANYO corporation are selected and used for driving six joints. Finally, the system can achieve satisfactory performances and low costs.

关 键 词：NGR01型 机器人 电气控制系统 设计 人机接口 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]