基于学术目的的多自由度机器人控制器研制

Francisco Mota Munoz, Sergio Martinez De La Piedra, Karla Camarillo Gomez
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引用次数: 2

摘要

本文介绍了用于技术培训、学术教学和研究的机器人控制器的发展。该控制器被设计用于与1到6个自由度(DOF)的串行机械臂交互,由配备增量编码器的有刷直流伺服电机驱动。控制器架构基于四个组件:处理器、可重构FPGA、测量I/O硬件和软件。通过与SCARA机械臂的交互,验证了机器人控制器的功能。所提出的控制器具有教授技术课程(如机器人,控制,电子和编程)以及实现和验证高级控制算法的潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Development of a Multi-DOF Robotic Controller for Academic Purposes
This article presents the development of a robotic controller for technical training, academic teaching, and research. The controller was designed to interact from 1 to 6 Degrees Of Freedom (DOF) serial robotic arms, actuated by brushed DC servomotors equipped with incremental encoders. Controller architecture is based on four components: a processor, a reconfigurable FPGA, measurement I/O hardware and software. Functionality of the robotic controller has been proved by means of the interaction with an SCARA robot arm. The proposed controller presents the potential to teach technical courses (like Robotics, Control, Electronics and Programming) and to implement and validate advanced control algorithms.
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