| 基于IPC和DSP的六自由度搬运机器人控制器研究 |
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| 引用本文： | 宋海波,曹西京. 基于IPC和DSP的六自由度搬运机器人控制器研究[J]. 陕西科技大学学报, 2009, 27(4): 80-84 |
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| 作者姓名： | 宋海波 曹西京 |
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| 作者单位： | 陕西科技大学机电工程学院,陕西,西安,710021 |
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| 摘 要： | 设计了一种基于DSP技术的六自由度关节型搬运机器人,确定了基于IPC（工控机）和DSP的两级伺服控制方案,并从硬件和软件两方面分别对控制器的结构进行了研究.DSP运动控制卡以TI公司的信号处理器TMS320LF4207作为控制核心,实时运动控制由DSP芯片承担,非实时部分则由IPC处理.研究表明,这种控制模式灵活性好,功能稳定,是一种较为实用的用于高精度伺服控制领域的控制模式.
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| 关 键 词： | 机器人 DSP TMS320LF4207 PCI9052 VC++6.0 |
RESEARCH ON CONTROLLER OF HANDLING ROBOT BASED ON INDUSTRIAL COMPUTER AND DSP |
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| SONG Hai-bo,CAO Xi-jing. RESEARCH ON CONTROLLER OF HANDLING ROBOT BASED ON INDUSTRIAL COMPUTER AND DSP[J]. Journal of Shaanxi University of Science & Technology(Natural Science Edition), 2009, 27(4): 80-84 |
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| Authors: | SONG Hai-bo CAO Xi-jing |
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| Affiliation: | (School of Mechanical and Electrical Engineering, Shaanxi University of Science ＆ Technology, Xi＇ an 710021, China) |
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| Abstract: | The six degrees of freedom robot designed in this paper is a kind of industrial robot based on DSP technology,we select the two-level robot＇s servo control system based on IPC and DSP as our system. The structure of the controller is expatiated from both hardware and software,Servo Control Card uses TMS320LF4207 of TI company as control core. Real-time motion control is taken charge by DSP chip and the non-real time motion control is taken charge by IPC. This kind of control mode is remarkable for its flexibility and stability which is used for high-precision servo control. |
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| Keywords: | DSP TMS320LF4207 PCI9052 VC++6.0 |
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