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机器人是机电一体化的高技术产品,汽车工业是它的传统应用领域。直接驱动(DD)机器人作为机器人家族的新成员,是为了满足对机器人提出的快速高精度的要求而发展的一种电机轴直接与关节相联而不用减速器的新型机器人。本文介绍了DD机器人控制系统,着重建立了DD机器人测角系统和PWM功率放大器系统。提出了一种利用多极旋转变压器粗精机同时运行产生16位绝对角位移数字量的方法,实现了机器人关节角的高精度检测。把单片机用于控制带电流反馈的PWM功率放大器系统,克服了模拟功放的缺陷。
Robot is a mechatronic high-tech products, the automotive industry is its traditional application areas. As a new member of the family of robots, direct drive (DD) robots are developed to meet the rapid and high precision requirements of robots. A new robot with a motor shaft connected directly to a joint without a reducer is developed. This article introduces the DD robot control system, focusing on the establishment of a DD robot angle measurement system and PWM power amplifier system. A method of generating 16-bit absolute angular displacement digital signals by using a multi-pole rotary transformer roughing machine simultaneously is proposed, and a high-precision detection of the robot joint angle is achieved. The microcontroller is used to control PWM power amplifier with current feedback system, to overcome the shortcomings of the analog amplifier.