摘要
设计了一种基于CANopen的六轴串联机器人控制系统,介绍了 CANopen 总线技术的特点并给出控制系统的硬件组成和软件设计。以实验室六轴机器人为原型建立了机器人的轨迹运动学方程,分析了连杆机构末端位置与关节角度的关系。
In the paper,a control system of six-axis robot based on CANopen is designed.The characteristics of CANopen bus technology,the hardware composition and software design of the control system are introduced.Taking the six-axis robot in the laboratory as the prototype,the trajectory motion function equation of the robot is constructed,and the relationship between the end position of the connecting rod mechanism and the joint angle are analyzed.
作者
朱嘉伟
胡凯
黄家才
Zhu Jiawei;Hu Kai;Huang Jiacai(Department of Automation,Nanjing Institute of Technology,Nanjing 211167,China)
出处
《单片机与嵌入式系统应用》
2019年第11期13-15,共3页
Microcontrollers & Embedded Systems
基金
国家自然科学基金资助项目(61104085)
江苏省自然科学基金资助项目(BK20151463)
南京工程学院自然科学基金资助项目(ZKJ201508,CKJB201702)
