【摘要】 设计了一种新型的基于DSP和CPLD的开放式机器人控制器。该控制器以IBM-PC为上位计算机,用一块DSP运动控制卡对PR教学机器人的4个关节运动进行伺服控制,采用PCI总线进行上、下位机之间的通讯,实现双速率运行,较好地实现了机器人的实时控制。同时,在控制卡中采用参数自调整模糊控制算法,以提高系统控制精度和动态性能。实际应用表明,该控制器实现了机器人控制系统的高速率实时控制,增强了系统的鲁棒性和抗干扰能力,取得了良好的效果。更多还原

【Abstract】 A type of open architecture robot controller based on DSP and CPLD is developed.This controller takes IBM-PC as the supervisory-controlled computer,and a DSP motion control card as the core to servo-control the four joints of the PR robot.It adopts PCI bus to communicate the two-stage controllers running at different speeds.This method realizes the robot real-time control.The system uses a self-adjusting fuzzy control algorithm in the servo controller,and improves the system control performance.The practical results show that the high speed real-time control is realized,the robustness is improved.更多还原