摘要
从体系结构、通信网络以及控制算法三个方面探讨了机械臂控制系统研究现状,然后在描述机械臂的基础上,基于CAN总线技术对机械臂自动控制系统进行了总体设计,不仅开展了硬件平台设计和软件设计,还分别针对系统模块研究了控制决策算法、机械臂关节位置控制算法以及通信调度算法,最后对模拟实验结果进行分析。
From the system structure,communication network and control algorithm is discussed in three aspects： the mechanical arm control system research present situation,and then in the description of the mechanical arm,based on the automatic control system based on CAN bus technology for mechanical arm has carried on the overall design,not only in the hardware platform design and software design,module of the system separately control decision-making algorithm is studied,the mechanical arm joint position control algorithm and communication scheduling algorithm,finally,the simulation experiment results are analyzed.
出处
《自动化与仪器仪表》
2016年第10期56-58,共3页
Automation & Instrumentation
关键词
CAN总线
机械臂自动控制
嵌入式
CAN bus
mechanical arm automatic control
the embedded
