基于ARM的危险作业机器人机械臂控制系统设计

摘要

针对高危险作业机器人工作环境的复杂性和作业任务的高难度,设计了机器人双关节机械臂控制系统.系统采用ARM处理器,由光电编码器采集速度和位置信息构成双闭环控制,从而使机械臂完成期望的运动轨迹,系统增加了电流内环反馈,提高了系统的响应速度.%Considering the complexity of working environment and the difficulty of the operation task, the dual joint manipulator control system of high hazardous operation robot is designed. The ARM processor is used. The speed and position information is collected to form a double closed-loop control by the optical encoder. The manipulators can complete the desired motion trajectory. The current inner loop is added to improve response speed of the system.