Design of manipulator control system

摘要：

Manipulators control system used PWM integrated amplifier circuit chip and LMD18200 director current machine to drive the manipulator. Through PC and RS-485 serial communication connection input control signal, and manipulators control section is mainly completed by the Atmel series 89C52, connected the TLP521-2 photo electricity coupled apparatus to achieve coupling for the different level the pulse signal. As well as used the bipolarity PWM amplifier chips to change the speed of electric motor and realize the control of DC motor. Made use of the incremental optical encoder as a feedback device to form the closed loop, carried on the speed and position examination to this control system, in order to achieve the capture function manipulator. Finally carried on software debugging for the control system.Provides a theoretical basis for the development of new multiple freedom degrees and multi-joint robot, and through computer simulation to check the Completion feasibility of an operation process.

关键词： manipulator control system hardware design

作者: Fu Zhuo Liu Yilun

作者单位: Central South University,Changsha 410083,China

会议类型: 国际会议

会议名称: 2011 10th International Conference on Electronic Measurement & Instruments(第十届电子测量与仪器国际会议 ICEMI2011)

会议地点: 成都

会议语种:英文

页码: 342-345

在线出版日期: 2011-08-16（万方平台首次上网日期，不代表论文的发表时间）