摘要
为了减少机器人运动轨迹误差,实现对机器人的精准控制,提高机器人的运动效率,设计了基于LabVIEW的机器人的运动控制系统;采用了NI公司的控制板卡,选用了Odriver驱动器作为主控制器,选用大力矩伺服电机作为驱动电机,实现运动控制系统的硬件架构的设计;通过脉冲信号驱动电机运动,获取机器人的运动轨迹数据,通过进行对控制系统进行模块化编程,获取了机器人实际运动轨迹和理论轨迹,最终实现机器人实际轨迹与理论轨迹的拟合,减少了运动轨迹的偏离程度,完成对运动控制系统的软件设计。实验表明,机器人能够实现精准控制,提高了机器人的运动效率。
In order to reduce the error of the robot’s motion trajectory,realize the precise control of the robot,improve the robot’s motion efficiency,this paper designs the robot’s motion control system based on LabVIEW.Using NI’s control board card,selecting the odriver driver as the main controller,using the vigorous moment servo motor as the driving motor,realizing the design of the hardware architecture of the motion control system,using the pulse signal to drive the motor motion,obtaining the robot’s motion trajectory data,realizing the comparison and debugging of the actual motion trajectory and theoretical trajectory,and finally realizing the fit of the robot’s actual trajectory and the theoretical trajectory,reducing the deviation of the motion trajectory.The software design of motion control system is completed,and experiments show that the robot can achieve precise control and improve the robot’s motion efficiency.
出处
《工业控制计算机》
2022年第2期116-117,共2页
Industrial Control Computer
