梁天培, 冯海堃. 微型计算机控制的机器人手臂的设计[J]. 机器人, 1987, 9(1): 35-43.
引用本文: 梁天培, 冯海堃. 微型计算机控制的机器人手臂的设计[J]. 机器人, 1987, 9(1): 35-43.
LIANG Tianpei, FENG Haikun. Design of Microcomputer-Controlled Robotic Arm[J]. ROBOT, 1987, 9(1): 35-43.
Citation: LIANG Tianpei, FENG Haikun. Design of Microcomputer-Controlled Robotic Arm[J]. ROBOT, 1987, 9(1): 35-43.

微型计算机控制的机器人手臂的设计

Design of Microcomputer-Controlled Robotic Arm

  • 摘要: 本文概述了香港理工学院机械及轮机工程系设计和研制的5 1/2自由度的机器人手臂.描绘了机械臂本身的设计与结构,与其相关联的以微处理机为基础的控制系统和接口以及汇编语言软件的编写.为手臂动作的反馈控制采用了比例积分调节器.文章还给出了由实验测试所获得的三轴闭环控制器.

     

    Abstract: This paper outlines the design and development of a 5 1/2 degree-of-freedom ro-botic arm in the Department of Mechanical and Marine Engineering of the HongKong Polytechnic.The design and construction of the arm itself,the associatedmicroprocessor-based control system and interfaces together with the writing ofassembly language software are described.A proportional-plus-integral controller wasadopted for the feedback control of thearm movement.Closed-loop controller set-tings of the first three axes obtained from the experimental tests are also given inthis paper.

     

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