摘要
研究了一种新型数字舵机控制系统的设计问题。针对多关节机器人结构特征和运动控制特点,设计了一套基于TMS320LF2407A的DSP控制系统;分析了数字舵机控制系统的控制过程、结构组成、硬件软件实现方案。该系统具有外设简单、控制简单、运算能力强的特点。TMS320LF2407A支持多项式的高速、高效和全变速的先进控制技术,为关节机器人实现复杂运动提供了硬件的支持。系统采用分时译码方式实现六路控制信号控制最多48路舵机,满足作为多关节机器人的舵机控制系统的需要。
A new design problem in digital servo control system for structural characteristics of multi-joint robot and motion control features is studied.The research designs a set of DSP-based control system TMS320LF2407A.It analyzes the digital servo control system to control the process,structure,hardware and software implementations.The system achieves simple control and computing power.Polynomial TMS320LF2407A support high-speed,high efficiency and full speed of advanced control technologies for joint complex movements of the robot hardware.While time-sharing system is the realization of decoding the control signal to control up to six 48-foot Servos,it meet needs of a multi-joint robot servo control system.
出处
《浙江理工大学学报（自然科学版）》
2011年第1期85-91,共7页
Journal of Zhejiang Sci-Tech University(Natural Sciences)
基金
留学人员科技活动项目(浙人社发[2009]204号)
