| 小型多自由度机器人舵机群控制系统设计 |
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| 引用本文： | 曹杰,戴敏. 小型多自由度机器人舵机群控制系统设计[J]. 微计算机信息, 2011, 0(7): 1-2,19 |
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| 作者姓名： | 曹杰 戴敏 |
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| 作者单位： | 东南大学机械工程学院 |
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| 摘 要： | 针对小型多自由度机器人关节控制的需求,提出一种高精度多路PPM信号生成方法。具体介绍了系统的硬件电路和软件实现方法。对多路PPM信号的生成方法和数据排序算法等系统的关键部分进行了详细的阐述。测试结果表明,系统生成的24路PPM信号时间精度可达2us,精度误差小于0.2us。
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| 关 键 词： | 舵机 多自由度 脉冲位置调制 精度 精度误差 |
Design of a Multi-Servo Control System for Small Multi-DOF Robots |
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| CAO Jie DAI Min. Design of a Multi-Servo Control System for Small Multi-DOF Robots[J]. Control & Automation, 2011, 0(7): 1-2,19 |
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| Authors: | CAO Jie DAI Min |
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| Affiliation: | CAO Jie DAI Min(School of Mechanical Engineering, Southeast University, Nanjing, 211189, China) |
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| Abstract: | A multi PPM signals generation method for small multi-DOF robot servos controller is presented. The hardware design and software design are introduced. The methods of signals generating algorithm and communication are disserted in detail. In actual multi PPM signals system testing experiment, the output signal precision is 2us and precision error is less than 0.2us. |
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| Keywords: | Servo Multi-DOF PPM Precision Precision Error |
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