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针对目前机械臂全方位移动不能灵活控制导致工作效率低问题,本文提出一种根据精确定位信息机械臂适时移动的控制方案,并基于该方案设计一套自动控制系统。在该控制系统中为了提高对机械臂控制的精度和适时性,采用了DSP控制技术,并且对机械臂定点转变方向和直线运行两种行动方式的控制进行研究。采用超声波精确定位技术确保机械臂自由活动的量度是可控的,进而保证了机械臂工作的效率。
In view of the problem that the current manipulator can not be flexibly controlled due to omni-directional movement, this paper presents a control scheme for timely moving manipulator based on precise positioning information. Based on this scheme, a set of automatic control system is designed. In order to improve the control accuracy and timeliness of the manipulator in the control system, the DSP control technology is adopted, and the control of the two manipulative modes of the manipulator fixed-point transition and linear operation is studied. The use of ultrasonic precise positioning technology to ensure the freedom of movement of the arm is controlled, thus ensuring the efficiency of the work of the arm.