亚当机械臂在三维外力作用下的仿真与控制

2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA) Pub Date : 2015-12-01 DOI:10.1109/STA.2015.7505203

Z. Chiheb, Jebli Tarek, A. Maalej

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引用次数: 1

摘要

本文的目的是利用无刷直流电机对三自由度机械臂进行仿真和控制。这两条手臂用于在存在外部干扰的情况下保持机器人的稳定性。我们使用基于逆动力学模型的解析方法来确定稳定机器人所需的手臂配置。机械臂的控制由基于最新DSP技术的IPOS 4808智能伺服驱动器实现。我们使用(TML)语言和c++来发送动作。在本文中，我们展示了如何使PC机和驱动器之间以及驱动器和无刷电机之间的链接。在开始从PC发送运动命令之前，使用EasySetup执行驱动器/电机设置。在本文中，我们使用CAN总线来实现三个IPOS之间的网络。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Simulation and command of adam robot arm subjected to 3D external force

The aim of this article is the simulation and the control of three degree of freedom robotic arms using brushless DC motors. The two arms are used to maintain the stability of the robot in presence of external disturbances. We used an analytical approach based on the inverse dynamic model to determine the necessary configurations of the arms to stabilize the robot. The control of robotic arm is achieved by IPOS 4808 intelligent servo drives based on the latest DSP technology. We use the (TML) language and C++ to send motions. In this paper we show how to make the links between the PC and the drives also between the drives and the brushless motors. Before starting to send motion commands from the PC, the drive/motor setup using EasySetup was performed. In this paper we use the CAN bus to implement a network between the three IPOS.

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来源期刊

2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

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