摘要
提出一种基于MatlabRTW的机器人伺服系统的设计方案。基于五自由度排爆机器人,使用SIMULINK设计出控制系统框图,并通过xPC目标系统实现了该实时控制系统。该系统采用先进PID控制器,具有专家特性。运行结果表明,该方案能取得良好的效果:机器人运动平稳,系统具有很好的鲁棒性,实时性。
A servo system design for Robot based on MatlabRTW is presented in this paper. Based on anti-riot robot with 5 degrees of freedom,designed the control system diagram for the servo system by SIMULINK. And,the system is real-time controlled through xPC target system. With a set of advanced PID controller,this system has the character of expert. Application results demonstrate that this method will make good effect： robot ran placidly,and the system is much robust and real-time.
出处
《机械设计与制造》
北大核心
2009年第9期183-185,共3页
Machinery Design & Manufacture
