基于Galil控制器六自由度机械手的开发与应用

摘要

研究了基于Galil运动控制器的六自由度机械手控制系统软硬件方案。控制系统采用“PC＋Galil”硬件构架平台，以PC机作为上位机，实现运动控制、轨迹规划及后台管理与运算等工作，以Galil作为下位机实现前台实时运动控制与检测。利用GalilTools软件在线整定了伺服系统的PID参数，优化系统的性能。利用微软的Visual Studio 2010软件开发了上位机人机操作界面，实现上位机与Galil运动控制卡之间的数据通信。实验结果展示控制系统具有良好的动态性能。%In this paper ,the hardware and software of six degrees of freedom robot control system based on Galil is studied .The con‐trol system uses“PC+ Galil” hardware architecture platform .Taking PC as the host computer ,the system realizes the motion con‐trol ,trajectory planning ,management background and so on .Taking Galil as the lower machine ,the system achieves real‐time mo‐tion control and testing .GalilTools is applied to online tuning of PID parameters of the servo system to optimize system perform‐ance .Microsoft Visual Studio 2010 software is used to develop PC human‐machine interface ,and the data communication between PC and Galil motion control card is realized .The experimental results show the control system has good dynamic performance .