THE SERVO-CONTROL TECHNOLOGY OF MULTI-DOF ROBOT BASED ON CANBUS

摘要：

　　A study for servo-control technology of multi-DOF robot is proposed,the structure of control system and principle of servo driver circuits for DC motor with low inertia presented.The experiment results are reported,indicates that the position tracking performance of motor meets the dynamic specifications of control system using modified PID algorithm.The servo-control technology based on CAN bus offers high potential in multi-DOF robot control applications due to its advantages of low cost,simple structure and high reliability.

关键词： Multi-DOF robot Servo-control DC motor with low inertia Improved PID control Position tracking CAN bus

作者: Mengke Yang Min Yan Xuezhong Ai Kang Wang

作者单位: Department of Automation and Instrument,Jilin Institute of Chemical Technology,45,Chengde Street,132022 Jilin,China

会议类型: 国际会议

会议名称: 2018 International Conference on New Materials and Intelligent Manufacturing (ICNMIM(2018年第一届新材料与智能制造国际会议))

会议地点: 吉林

会议语种:英文

页码: 69-72

在线出版日期: 2018-06-23（万方平台首次上网日期，不代表论文的发表时间）