| 基于PMAC的仿人按摩机器人手臂控制系统设计 |
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| 引用本文： | 张邦成,韩跃营,王占礼,庞在祥,张玉玲.基于PMAC的仿人按摩机器人手臂控制系统设计[J].机械设计与制造,2012(4):56-58. |
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| 作者姓名： | 张邦成 韩跃营 王占礼 庞在祥 张玉玲 |
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| 作者单位： | 长春工业大学机电工程学院,长春,130012 |
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| 基金项目： | 国家863项目(2008AA040205) |
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| 摘 要： | 仿人按摩机器人手臂是按摩机器人的重要组成部分,其控制系统是中医按摩机器人完成按摩位置精确定位的关键因素。为了实现对仿人按摩机器人手臂精确控制,基于PC+PMAC运动控制卡设计了仿人按摩机器人手臂控制系统。通过PC与PMAC运动控制卡之间的通信对PMAC运动控制卡进行参数设置以及PMAC运动控制卡的PID控制器参数的优化。基于VC++软件开发平台设计了控制系统软件。仿真及实际应用效果表明,设计开发的仿人按摩机器人手臂控制系统实现了对手臂的控制,达到了设计要求。
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| 关 键 词： | 仿人 按摩 机器人 控制系统 通讯 |
Design of arm control system for massage humanoid robotic based on PMAC |
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| ZHANG Bang-cheng
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HAN Yue-ying
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WANG Zhan-li
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PANG Zai-xiang
,
ZHANG Yu-ling.Design of arm control system for massage humanoid robotic based on PMAC[J].Machinery Design & Manufacture,2012(4):56-58. |
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| Authors: | ZHANG Bang-cheng HAN Yue-ying WANG Zhan-li PANG Zai-xiang ZHANG Yu-ling |
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| Affiliation: | (School of Mechatronic Engineering,Changchun University of Technology,Changchun 130012,China) |
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| Abstract: | The arm of the humanoid massage robot is an important component of the massage robot,which control system is a key factor of the chinese massage robot for achieving precise position control of the massage position.To realize precise position control of the massage humanoid robot arm,the control system of the massage humanoid robot arm was designed based on PC+PMAC.Then the parameters of PMAC were set and the parameters of PID controller were optimized through the communication of PMAC and PC.Based on VC++,the control system software was designed.The simulation and practical application results show that the control system of humanoid massage robot arm can fulfill the design requirements. |
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| Keywords: | Humanoid Massage Robotic Control system Communicate |
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