基于C8051的运动控制卡研制和应用

本文针对排爆机器人手臂多关节联动控制的需要,开发了一种具有高集成度的基于C8051单片机和CAN总线的运动控制卡。介绍了运动控制卡的原理及实施方案,同时给出了运动控制卡在机器人平台的应用实例。在排爆机器人平台上的应用表明该运动控制卡具有较高的精度及很好的可靠性和实时性。

To satisfy the requirement of controlling arm cooperatively for bomb disposal robot,the high-integrated motion control card based on C8051 and CAN bus is developed.The principle and implement technique is introduced,as well as the application of motion control card on robot platform is presented.The application on bomb disposal robot shows that the motion control card has the characteristics of high-precision, reliability and real-time performance.