摘要
针对目前机械臂全方位移动不能灵活控制导致工作效率低问题,本文提出一种根据精确定位信息机械臂适时移动的控制方案,并基于该方案设计一套自动控制系统。在该控制系统中为了提高对机械臂控制的精度和适时性,采用了DSP控制技术,并且对机械臂定点转变方向和直线运行两种行动方式的控制进行研究。采用超声波精确定位技术确保机械臂自由活动的量度是可控的,进而保证了机械臂工作的效率。
In view of the present mechanical arm omni-directional mobile can＇t work flexible control lead to low efficiency problem,this paper proposes a mechanical arm according to accurate positioning information timely mobile control scheme,and based on the scheme design of a set of automatic control system.Mechanical arm in the control system in order to improve the control accuracy and timeliness of the DSP control technology,and the fixed-point mechanical arm for a change of direction and straight run two operation modes of control are studied.Precise positioning technology of ultrasonic and ensure a measure of the mechanical arm free activities can be controlled,to ensure the efficiency of mechanical arm work.
出处
《自动化与仪器仪表》
2016年第9期62-63,66,共3页
Automation & Instrumentation
关键词
精确定位
全方位自由运动机械臂
直线运行和定点转向
灵活定位和定向
accurate positioning
full freedom of movement of mechanical arm
straight lines and a fixed point to
flexible positioning and orientation
