摘要
近年来,码垛机器人获得了飞速发展,码垛机器人的应用在实际生产中有着十分重要的意义。在充分研究国内外码垛机人的基础上,设计了基于STM32的码垛机器人控制系统。码垛机器人首先应用D-H法建立机器人运动学模型,并给出逆运动学方程,并对工业码垛机器人进行轨迹规划。然后以STM32F407ZET6微处理器为核心设计工业码垛机器人伺服电机和伺服驱动器的硬件控制器电路以及对整个控制系统进行程序设计并实现。
In recent years,palletizing robot has gained rapid development,application of palletizing robot has a very important significance in the actual production.On the basis of the full study about industrial palletizing robot on domestic and international human,the control system of palletizing robot based on STM32 is designed in this paper.Firstly,create kinematics model of palletizing robot by D-H method,and gives the negative kinematic equations,and plan the trajectory planning of industrial palletizing robot.Then,designs industrial palletizing robot servo motor and servo drive hardware controller circuit by STM32F407ZET6 microprocessor core,and designe the entire program of palletizing robot control system.
出处
《工业控制计算机》
2014年第11期69-71,共3页
Industrial Control Computer
基金
青岛市科技计划项目(12-1-4-2-(3)-jch)
