机械科学与技术2018，Vol.37Issue(2)：306-312,7.DOI:10.13433/j.cnki.1003-8728.2018.0223
一体化驱控技术在Delta机器人上的应用
Applying Drive and Control Integrated Technology to Delta Robot
摘要
Abstract
This article integrates a driver with a controller and improves kinematic mathematical model of a Delta robot to achieve the drive and control integration in the Delta robot.The drive and control integrated technology uses the architecture of ARM + DSP,the ARM core in the master subsystem mainly achieves the trajectory generation,peripheral control and communication.The DSP C28 core in the control subsystem mainly achieves the control of a servo motor and the motion control of the Delta robot.Meanwhile,an improved method which ueses the geometric vector method is presented to desolve the kinematic mathematical model of the Delta robot which makes the software design more convenient.Finally,the application results obtained with the Delta robot system-duplicated robot body shows that the robot's positioning accuracy error is ± 0.01 mm,the error for each axis is stable and reliable,and the overall performance of the robot system fulfills the functional requirements of the motion control system.关键词
一体化/驱控技术/Delta机器人/运动学正反解Key words
integration/drive and control/Delta robot/kinematic mathematical model分类
信息技术与安全科学引用本文复制引用
吴晓君,祁玫丹,马长捷,陈竹,林宁..一体化驱控技术在Delta机器人上的应用[J].机械科学与技术,2018,37(2):306-312,7.基金项目
国家自然科学基金项目(51375361)与广东省省级科技计划项目(2014A010104001)资助 （51375361）
