Design of manipulator control system

摘要

Manipulator's control system used PWM integrated amplifier circuit chip and LMD18200 director current machine to drive the manipulator. Through PC and RS-485 serial communication connection input control signal, and manipulator's control section is mainly completed by the Atmel series 89C52, connected the TLP521-2 photo electricity coupled apparatus to achieve coupling for the different level the pulse signal. As well as used the bipolarity PWM amplifier chips to change the speed of electric motor and realize the control of DC motor. Made use of the incremental optical encoder as a feedback device to form the closed loop, carried on the speed and position examination to this control system, in order to achieve the capture function manipulator. Finally carried on software debugging for the control system. Provides a theoretical basis for the development of new multiple freedom degrees and multi-joint robot, and through computer simulation to check the Completion feasibility of an operation process.