| 基于DSP与FPGA的机器人运动控制系统设计 |
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| 引用本文： | 李 疆,游有鹏. 基于DSP与FPGA的机器人运动控制系统设计[J]. 机械与电子, 2014, 0(4): 64-67 |
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| 作者姓名： | 李 疆 游有鹏 |
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| 作者单位： | 南京航空航天大学机电学院,江苏南京210016 |
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| 摘 要： | 针对国内外工业机器人控制技术中封闭式控制系统开放性差、可扩展性差的现状,采用PC+运动控制卡的研究方案,完成运动控制系统的设计。重点讨论了运动控制器的硬件电路设计、软件架构设计、加减速规划算法和位置控制策略。
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| 关 键 词： | 工业机器人 硬件设计 软件设计 加减速规划 位置控制 |
Design of Motion Controller System for Robot Based on DSP and FPGA |
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| LI Jiang,YOU You peng. Design of Motion Controller System for Robot Based on DSP and FPGA[J]. Machinery & Electronics, 2014, 0(4): 64-67 |
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| Authors: | LI Jiang YOU You peng |
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| Affiliation: | (College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016,China) |
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| Abstract: | This paper chooses the study proto-col that combing PC with motion control card to complete the design of motion control system .The motion control system is directed against the re-search status that current control technology of do-mestic and foreign industrial robot has a poor openness and scalability in closed loop control sys-tem .T his paper puts the focus on the motion con-troller hardware circuit design ,software architec-ture design ,acceleration and deceleration algorithm and position control strategy . |
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| Keywords: | industrial robot hardware design software design acceleration and deceleration posi-tion control |
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