摘要
针对如何提高机械手的自动化与智能化程度,特别是自主识别、判定目标并做出响应的问题,提出了基于TK-A6六自由度机械手和LD1501-MG数字舵机的工业机械手控制系统的设计。硬件方面从控制系统组成,控制方案和单片机选型三个方面叙述了设计中控制系统的总体设计方案,并给出了软件的设计思路和流程图。经过调试,不仅完成了目标识别的任务,识别时间在500 ms以内;而且完成了机械手抓取固定位置货物的功能与货物分装的功能。该系统展现了单片机在工业控制系统中的综合应用,成为机械手的控制、机电一体化和电气自动化专业学生的综合实验实训的又一平台,具有很高的理论和商用价值。
Aimed at how to enhance the degree of mechanization and intelligence, especially in patternrecognizing, identify targets and finally response to them.Proposed the designed of industrial robotcontrol system based on TK-A6 six degrees of freedom manipulator and LD1501-MG digital servos.Hardware from the control system composition, control scheme and MCU selection three aspectsnarratived the overall design,and the software design concept and flow charts of this system arepresented.After debugging, not only completed the target recognition task, recognition time within 500ms,And And completed the manipulator to grab a fixed position function and the function of the goodspacking of the goods.The application of microcontroller in the industrial control is presented.It also canbe used as a new comprehensive experimental platform for mechanical hand control in training ofstudents in electromechanical integration major and electrical automation major.
作者
侯进旺
Hou Jinwang(Foshan Polytechnic Institute,Foshan 528000,China)
出处
《科技通报》
北大核心
2016年第7期108-112,共5页
Bulletin of Science and Technology
