基于ARM的研磨抛光机器人运动控制器的设计

本文设计了研磨抛光机器人分布式控制系统中的一种运动控制器,并对运动控制器基于AT91M40800微控制器的硬件结构、基于μC/OS-Ⅱ实时操作系统的软件模块和采用的参数模糊自整定PID机器人关节位置控制策略进行了详细介绍。实验表明该控制器可以大大降低研磨抛光机器人的位置跟踪误差。提高了关节控制的计算及处理能力,易于扩展和维护。

A kind of motion controller of grinding and polishing robot distributed control system is designed,its hardware structure based on AT91M40800 microprocessor,its software modules based onμC/OS-Ⅱand fuzzy PID control strategy with self-tuning parameters of robot joint position are introduced.Experiments show that the motion controller may greatly reduce the error of tracking of grinding and polishing robot,improve speed of joint control and be extended and maintained conveniently

中国科学院知识创新工程重大资助项目(KGCX-SW-15)