摘要
针对经济型搬运机械手进行复杂运动时,采用数学方程难以满足插补精度的问题,提出了位模式插补架构,实现高精度的低成本硬件插补。将插补构架在QuartusⅡ环境下仿真,校验基本插补模块的逻辑功能,通过PCI总线数据传输试验,对平面直线与圆弧插补进行数据采集,对比仿真得出结论,试验与仿真的输出插补脉冲一致。位模式插补构架的研究为高性价比的机械手插补系统研究提供了一定的指导意义。
For the economic transport manipulator system in the process of complex curved surface, using mathematical equations cannot satisfy the interpolation accuracy and high processing cost, the module type bit pattern interpolation architecture is come up and the hardware interpolation function of high performance to price ratio is realized. In order to check module function, the basic module interpolation architecture is simulated in Quartus Ⅱ environment. Through the PCI bus data transmission experiment, collect the data of the plane linear interpolation and circular interpolation, and the simulation results show that, the bit pattern interpolation pulse is consistent with the simulation of pulse. Study on bit pattern interpolation frame provides certain guiding significance to the study of transport manipulator system.
出处
《煤矿机械》
2015年第5期152-155,共4页
Coal Mine Machinery
关键词
搬运机械手
位模式
插补技术
数据采集
numerical control system
bit pattern
interpolation technology
data acquisition
