摘要
提出一种四自由度机械臂运动控制系统的通信方法及其控制程序的总体框架,利用工业以太网CAN总线网关ENC-315为通信介质,控制机械臂各个关节的协调运动;将机械臂各个关节经过轨迹规划处理,得出相应关节电机的旋转角度和速度,转换成相应的CAN数据通过TCP传送给DSP2812开发板,并结合DSP2812的EV模块控制各个直流伺服电机的转动;应用结果表明:该控制系统运行稳定可靠,具一定应用性和实用价值。
This paper puts forward a method of communication about movement control system of 4-DOF mechanical arm and the whole framework of the control program. Using industrial Ethernet CAN bus gateway ENC-315 as the communication medium, we can control co-ordination movement between each axis of mechanical arm. After processing each joint of mechanical arm by trajectory planning, the PC may calculate rotation angle and velocity of each joint motor, and convert it into the CAN data, then send to DSP2812 development board through TCP. Combining with the DSP2812＇s EV module, we can control the rotation of the DC servo motor. The application results show that this control system is stable and reliahle, and has certain application and practical value.
出处
《计算机测量与控制》
北大核心
2013年第4期959-961,964,共4页
Computer Measurement &Control
基金
中央财政支持地方高校发展专项资金(5610304001)
