【作者】 王丽丽；

【导师】 王金友；

【作者基本信息】 机械科学研究总院 ， 控制理论与控制工程， 2006， 硕士

【摘要】 机器人技术综合了多学科的发展成果，代表了高技术的前沿，它在人类生活中的应用不断扩大。本文在广泛研究了机器人技术的现状与发展趋势、目前机器人控制器的技术特点与存在问题的基础上，根据课题研制的要求，提出了机器人设计方案，对其控制系统的硬件与软件进行了设计与开发。 文章介绍了机器人的机械结构、关节运动参数、机器人系统组成与特点、以及机器人控制系统的结构和原理。该机器人控制系统为二级控制结构，分为机器人上位控制计算机(上位机)和伺服控制器(下位机)两部分。上位控制计算机实现系统的监控、运动控制算法以及人机交互功能；伺服控制器又分为以DSP(PMAC)为核心的运动控制器和伺服驱动控制器两部分，它与上位机软件相结合，对机器人六个轴进行插补运算和伺服控制，通过PCI总线，实现上位机和下位机之间的通讯。文章重点分为两部分：第一部分是基于DSP的运动控制板的原理分析、实现运动控制的方法、以及PID参数的整定；第二部分是机器人运动控制算法包括逆运动学与轨迹规划插补算法的研究以及下位机软件结构的分析。运行结果表明，本课题的研制达到了机器人控制实验项目的设计要求。更多还原

【Abstract】 The robot technology has colligated the development fruits of many subjects. It represents the frontal of the high tech, and the application of it in human life has enlarged more and more . On the basis of the widely study on the actuality and the development trend of the robot technology, and the research on the present technology characteristics and existing problems of the robot controller, the author puts forward the control tactic and the design, and does the design and development of the hardware and the software of the control system .In the paper the robot mechanical structure, the locomotion parameters of the joints, the composing and traits of the robot system, and the structure and the theory of the robot control system are introduced . The robot control system is of two-rank control structure, the upper control computer (upper computer) and the servo controller (lower controller). The upper control computer realizes the monitor of the system, locomotion control arithmetic, and human-computer interaction. The servo controller is also divided into two parts, the locomotion controller with the DSP (PMAC) as the core and the servo drive controller. The servo controller combined with the upper computer software dose the interpolation operation and servo control of the three joints, and realizes the communication of the lower controller and the upper computer via the PCI data bus .The paper can be divided into two main parts. The first part is based on the principle analysis of the DSP locomotion controller. In this part the realizing method of the locomotion control and the PID parameter adjustment are introduced. The second part is mainly on the study and the deduction of the robot kinematics control arithmetic including the inverse kinematics and trajectory programming, and the software structure analysis of the lower controller. The running results indicate that this project has met the needs of the item of the robot control laboratory.更多还原