| 机械手关节运动控制模块设计 |
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| 引用本文： | 华平,徐坚,李秀玲. 机械手关节运动控制模块设计[J]. 机械研究与应用, 2009, 22(6): 95-97 |
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| 作者姓名： | 华平 徐坚 李秀玲 |
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| 作者单位： | 郑州铁路职业技术学院,河南,郑州,450052 |
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| 摘 要： | 以机械手腕关节为研究对象,选用LM629N芯片对机械手的关节运动控制进行设计,设置关节运动控制的轨迹参数,对LM629N校正滤波器和读写操作进行研究,设计出关节运动控制电路,组成关节伺服控制系统的一个模块,实现高精度位置控制的机械手关节半闭环控制。经过验证,节约了成本、达到了设计的要求,为机械手关节控制模块的设计提供了可借鉴的模式。
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| 关 键 词： | 机械手 关节运动控制 模块 |
Manipulator joint exercise control module design |
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| Hua Ping,Xu Jian,Li Xiu-ling. Manipulator joint exercise control module design[J]. Mechanical Research & Application, 2009, 22(6): 95-97 |
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| Authors: | Hua Ping Xu Jian Li Xiu-ling |
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| Affiliation: | (Zhengzhou railway vocational ＆ technical college,Zhengzhou Henan 450052,China) |
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| Abstract: | Taking mechanical wrist as the research object,manipulator motion control of joints is designed by using LM629N chip,trajectory parameters of joint exercise control is set.Calibration of filter LM629N and read-write operations are researched,a joint exercise control circuit is designed,which composed a module of joint servo control system,manipulator joint semi-closed-loop control has been achieved,which is high-precision position control.Through the experiment,cost is saved,design requirements are met,the model are provided for the teaching of manipulator joint exercise control module design. |
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| Keywords: | manipulator joint exercise control module |
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