四自由度機(jī)器人控制系統(tǒng)設(shè)計(jì)

1、（類別：全日制碩士研究生題目：四自由度機(jī)器人控制系統(tǒng)設(shè)計(jì)類別：全日制碩士研究生題目：四自由度機(jī)器人控制系統(tǒng)設(shè)計(jì)英文題目：英文題目：TheResearchof4DOFRobot’sControlSystem研究生：張新偉學(xué)科名稱：測(cè)試計(jì)量技術(shù)及儀器指導(dǎo)教師：孔慶忠副教授研究生：張新偉學(xué)科名稱：測(cè)試計(jì)量技術(shù)及儀器指導(dǎo)教師：孔慶忠副教授二○一○年六月二○一○年六月碩士學(xué)位論文碩士學(xué)位論文分類號(hào):學(xué)校代碼:10128分類號(hào):學(xué)校代碼:10128

2、UDC:學(xué)號(hào):20071027學(xué)號(hào):20071027AbstractNowadaystherobottechnologyhasbeendevelopingwitheachpassingday.Ithasthelatestresultsinmanysubjectsincludingmicroelectronicstechnologycomputertechnologyprogramdesigningmechanicalmanufactur

3、ingengineeringartificialintelligenceautomaticcontroltheyelectronicbionics.Onthebasisofthewidelystudyontheactualitythedevelopmenttrendoftherobottechnologytheresearchonthepresenttechnologyacteristicsexistingproblemsofthero

4、botcontroller，thepaperputsfwardthecontrolsystematicdesignofRobotbasesonPCIDSPCPLD（ComplexProgrammableLogicDevice）steppermots.Thecontrolsystemoftworankcontrolstructures(uppercomputerlowercomputer)CPUhastransferredthecontr

5、olsignalstothesecondarycontrollerthenthesecondarycontrollercancontrolthesteppermotsmovingaccdingtothestatedspeedanglethusitcancompletethegoaltothecontrolmovingoftherobot.Theprinciplesofthecontrolsystemareasfollows.Firsti

6、nputthematrixsoftheiginalfinalplaceoftherobotarmtotheCPUmakesolutionusingtheresultreasonmodetosolvethemovinganglesofeachsinglejointofthearm.Thesemovinganglesarethecontrolsignalsofsteppermots.TransmitthesignalsthroughtheP

7、CIbustotheCPLDwhichsuppliesthechoosingsheetsignalsinputtherelevantanglesignalstotheDSP.TheDSPisingeofchangingtheanglesignalsintodirectionsignalswhichcontroltherotatingdirectionofmotsthepulsesignalswhichcontrolthespeedang

8、leofmots.Throughtheproceduresabovewecanfinallyachievethecontroloftherobotarm.Finallyithasbeencompletedseveralwkasfollows:(1)ThroughthePCIbusDSPcancommunicatewiththePC(2)DesigningbythePCIinterfacechipthroughPCI9052(PCIbus

9、interfacecircuit)providinganinternalinterruptexternalinterruptprocessing(3)ingAlterasCPLD(MAX3000A)designingthesignalsinputoutputcircuitsthecircuithasachipcontrol(4)UsingTI’sTMS320LF2807AastheDSPmotioncontrolleritcancont