摘要
针对传统机器人伺服电机控制方式复杂、无法进行实时状态监控和保护限制的问题,对CDS55XX系列机器人伺服电机的基本结构、控制电路和控制方法进行了分析与研究,提出了一种基于串行总线的机器人伺服电机控制方法,该方法基于伺服电机内存单元协议读写,能有效地控制伺服电机速度和位置,并可通过内存中的限制单元参数对其进行温度、电压及扭矩输出保护。结果表明,通过伺服电机调试器和上位机终端调试软件,该方法可以完成对伺服电机通信总线地址、保护参数的设置,并能够对其运行状态进行实时监控。结合该伺服电机体积小、控制精度高、扭矩大等特点,该方法能够为机器人关节的伺服驱动提供一种理想的解决方案。
Aiming at the problem of complex control, lack of real-time monitoring and restricting protection for traditional robot servo motor, by analyzing the internal structure, control circuit and control method of CDS55XX series robot servo motor, a robot servo motor control method based on bus interface is proposed in this paper. The method based on memory protocol reading and writing can effectively control the speed and position of the servo motors. Moreover, the temperature,voltage and torque output can be protected and limited by the parameters in memory units. The results show that by setting the communication bus address and protection parameters of the servo motor with servo motor debugger and the terminal debugging software, the real-time monitoring can be fully functional. The servo motor has the characteristics of small dimensions, high control precision and large torque, which provides an ideal solution for robot joints driving.
出处
《工业控制计算机》
2022年第10期72-74,共3页
Industrial Control Computer
基金
辽宁省教育厅科学研究经费项目(LJJF201905)
辽宁省“百千万人才工程”经费资助项目(2021921117)。
