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仿人机器人具有很多的自由度,每个自由度可以由关节控制器控制其动作,关节驱动系统的性能对运动轨迹至关重要.该文介绍了以TMS320F240DSP作为关节驱动控制器,采用位置环控制和速度环控制,并进行增量码盘和速度检测电路的设计以及相应的软件设计等,完成了6个自由度机械臂分布式关节驱动控制系统开发设计,能够满足仿人机器人技术与系统运动轨迹的控制要求.“,”A humanoid robit is characterised by many degrees of freedom, the motion of which can be controled by joint controllers. The performance of joint dirving system is of vital importance to the tracks. In this paper, the joint driving controller based on TMS320F240DSP is introduced, position loop and speed loop control are adopted, and the circuits of incremental discs and speed detection along wirh their corresponding applications are designed. The achievement of develop and design on distributed joint driving controllers for six degrees of freedom mechanical arms fulfills the technology of humanoid robot and system trajectory requirements.