基于K64机械臂控制系统的设计与实现

摘要

机械臂被广泛应用,其结合不同末端工具来完成特定功能.机械臂的合理使用能大大解放人力,代替人们完成一些重复枯燥或危险的工作.针对自行设计的三自由度机械臂,提出一种专用的嵌入式控制系统.该控制系统以K64为核心控制板,MQX_Lite为操作系统,通过与上位机的通信解析相关命令,计算相应关节旋转角度,多任务并发执行.通过实验验证,该系统运行平稳高效,具有很强的应用价值.%Robotic arm is widely used,which combines with different tools to accomplish specific functions.The rational use of robotic arms can greatly liberate manpower,replacing people to complete some repetitive and boring or dangerous work.A special embedded control system is proposed for the self-designed three-degree-of-freedom robotic arm.The control system uses K64 as the core control board,MQX_Lite for the operating system,through communication with the computer,parsing the relevant command and calculating the corresponding joint rotation angle with multi-task concurrent execution.At the same time,through the experiment,the system runs smoothly and efficiently,which has high application value.