摘要
对仿生四足机器人的机构及运动学进行分析,设计了一种基于Visual c++及可编程多轴控制器PMAC的控制系统。上位机采用PC机控制,用Visual c++编写控制程序,负责处理与用户的信息交互,获取机器人各个运动参数,计算机器人运动轨迹并向下位机发送指令等。下位机采用可编程多轴控制器PMAC,用PMAC运动程序编写,负责对每个关节电动机进行伺服控制。实践证明该控制系统运行平稳。
This paper analyzes the mechanism and kinematics of a bionic quadruped robot, develops a control system based on Visual c＋＋ and PMAC（ programmable multi-axis controller）. Visual c＋＋ is used for control software editing of host PC to be responsible for interaction with people, get the motion parameter, calculate the trajectory and send the massage to the lower computer. PMAC is used as lower computer, it＇ s program is compiled by PMAC language, which is responsible for the basic servo control of every motor. The stability of the control system is proved in practice.
出处
《机械制造与自动化》
2012年第6期162-164,共3页
Machine Building & Automation
基金
重大国际合作研究项目"柔性空间变胞机构理论及拓展应用"(50720135503)
博士点基金(200800060009)
