| 基于PC104和VxWorks的水下作业机械手控制研究 |
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| 引用本文： | 徐国华,黄嘉陵,郭莹,郭悦.基于PC104和VxWorks的水下作业机械手控制研究[J].机械与电子,2006(6):58-61. |
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| 作者姓名： | 徐国华 黄嘉陵 郭莹 郭悦 |
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| 作者单位： | 华中科技大学,湖北,武汉,430074 |
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| 摘 要： | 针对一台6自由度位置反馈自行更换工具液压驱动水下作业机械手系统，介绍了系统组成及原理，重点研究了其控制技术，采用PC104，基于VxWorks操作系统研制了一套嵌入式控制系统，进行试验并取得了良好的效果。
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| 关 键 词： | 水下作业机械手 电液伺服阀 |
| 文章编号： | 1001-2257（2006）06-0058-03 |
| 收稿时间： | 2005-11-29 |
| 修稿时间： | 2005年11月29 |
Study of Control of Underwater Operating Manipulator Based on PC104 and VxWorks |
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| XU Guo-hua,HUANG Jia-ling,GUO Ying,GUO Yue.Study of Control of Underwater Operating Manipulator Based on PC104 and VxWorks[J].Machinery & Electronics,2006(6):58-61. |
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| Authors: | XU Guo-hua HUANG Jia-ling GUO Ying GUO Yue |
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| Affiliation: | Huazhong University of Science and Technology,Wuhan 430074,China |
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| Abstract: | In this paper a 6 DOF position - feed- back underwater operating manipulator is introduced, which is a hydraulic robotic arm with a function of changing tools automatically. After studying each part of the system, especially the controller,a new embedded controller was built to improve deficiencies of the old one. The new one based on PC104 and VxWorks RTOS has showed better efficiency in the test. |
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| Keywords: | PC104 VxWorks |
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