机器人球关节电机及其控制器研究

本文针对由增强型五相混合式步进电机组成的２自由度机器人球关节，着重介绍其连续轨迹（ＣＰ）控制原理，并提出“广义加密双判别插补”控制策略及其算法；所研究的控制器采用两级微机控制系统，能实现路径规划和协调控制。由实例证实它有良好的轨迹跟踪性能。

On Sphere Joint Motor and its Controller for the Robots Application

The structure of a kind of sphere joint in robots with two degrees of freedom consisted of two five-phase PM stepping motors is described. Control tactic and its algorithm for a generalized densified interpolations is presented on the basis of continuous path control principle.Path planning and corrdinate control have been achieved.A controller with two-stage micro-computer system is developed.It is found that the system has satisfactory trajectory tracking performance.