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针对经济型搬运机械手进行复杂运动时,采用数学方程难以满足插补精度的问题,提出了位模式插补架构,实现高精度的低成本硬件插补。将插补构架在QuartusⅡ环境下仿真,校验基本插补模块的逻辑功能,通过PCI总线数据传输试验,对平面直线与圆弧插补进行数据采集,对比仿真得出结论,试验与仿真的输出插补脉冲一致。位模式插补构架的研究为高性价比的机械手插补系统研究提供了一定的指导意义。
Aiming at the complex movement of economical handling manipulator, it is difficult to satisfy the interpolation precision by the mathematical equation, and a bit pattern interpolation architecture is proposed to achieve high-precision low-cost hardware interpolation. The interpolation architecture is simulated in Quartus II environment, and the logic functions of the basic interpolation module are verified. Data acquisition is carried out through the PCI bus data transmission experiment. The results of the comparison and simulation show that the output of the experiment and simulation Interpolation pulse consistent. The research of bit pattern interpolation framework provides some guidance for the research of cost-effective manipulator interpolation system.