摘要
本文在对ΡБ - 2 11机器人原理进行分析的基础上 ,设计出基于CAN总线的机器人控制系统 ,采用上、下位微机结构形式 ,上位机为管理级 ,下位机为直接控制级 ,对单通道进行了仿真 ,结果表明控制系统工作稳定、实时性强 ,达到设计要求。
Through analyzing the principle of the robotΡБ-211,a control system based on CAN bus was designed. This control system took a personal PC as the supervisory-controlled computer,and six single-chips as controller’s cores to cheek the state of the six joints of the robot. Simulation-result showed that the control system was reliable,real-time and meet the design requirement.
出处
《机床与液压》
北大核心
2003年第6期90-92,共3页
Machine Tool & Hydraulics
