摘要
设计了一种以STM32微控制器为核心,基于FreeRTS嵌入式系统的智能物流小车,小车搭载创新的机械手爪结构,使其具有较强的适应性,便于装拆与更换。机械臂的运动由三轴联动控制算法进行控制,这样不仅解决了普通PWM控制舵机时机械臂卡死的问题,同时也提升了其运动的流畅性。
This paper designs an intelligent logistics car with STM32 micro controller as the core and based on FreeRTS embedded system. The car is equipped with innovative mechanical gripper structure, which makes it have strong adaptability and easy to assemble, disassemble and replace. The movement of the manipulator is controlled by the three-axis linkage control algorithm, which not only solves the problem that the manipulator is stuck when the ordinary PWM controls the steering gear, but also improves the fluency of its movement.
出处
《工业控制计算机》
2022年第10期38-40,共3页
Industrial Control Computer
