摘要
本文主要在四个方面对CF—Ⅰ型机器人进行研究:第一,总体结构设计;第二,详细论述IBM微机控制系统的控制方案;第三,通过分析和比较,设计并制作出了适应控制系统需要的倍频鉴相硬件接口;第四,编制出了一套完整的键盘示教、人工示教和再现软件。本控制系统经在样机上调试,证明其工作性能稳定可靠,通用性强,具有较高的应用价值。
In this paper, discussions are focussed on the global architecture of the robot, the doubling frequency and detecting phase hardware interface in demand of the robot control system, the control project of microcomputer control system of the robot and a complete set of control software including keyboard teaching, man pulling teaching and playback.Having been adjusted and tested, this control system testifies to its stable and reliable working feature, more general uses, and higher utility value.
关键词
机器人
微机
控制系统
CF-1型
robot
computer control
electrohydraulic servo systems teaching playback
