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本文以“863”航天领域重点项目“舱外自由移动机器人系统”为背景,对基于VME实时系统的机器人控制器进行了初步研究。针对通用的关节型机器人,设计了基于VME实时系统的机器人控制器的基本方案。根据运动控制芯片LM628的特点,成功地将模糊自调整PID控制算法应用于控制器中。利用该机器人控制器成功地进行了有关的伺服控制实验。实验表明,基于VME实时系统的机器人控制器体系具有良好的控制性能,并具有实时性强、通用性好、便于开发等特点。
In this paper, the robot controller based on VME real-time system is studied based on the key project of “863” spaceflight project. For the common articulated robot, the basic scheme of the robot controller based on VME real-time system is designed. According to the characteristics of motion control chip LM628, fuzzy self-tuning PID control algorithm is successfully applied to the controller. Using the robot controller successfully carried out the servo control experiment. Experiments show that the robot controller system based on VME real-time system has good control performance, and has the characteristics of real-time, good versatility and easy to develop.