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Design on motion controller of grinding and polishing robot based on ARM

By 王瑞芳, 刘林 and 徐方

Abstract

本文设计了研磨抛光机器人分布式控制系统中的一种运动控制器,并对运动控制器基于AT91M40800微控制器的硬件结构、基于μC/OS-Ⅱ实时操作系统的软件模块和采用的参数模糊自整定PID机器人关节位置控制策略进行了详细介绍。实验表明该控制器可以大大降低研磨抛光机器人的位置跟踪误差。提高了关节控制的计算及处理能力,易于扩展和维护

Topics: 机器人, Arm, 研磨抛光, 控制器, Μc/os-ⅱ, robot, Arm, controller, 机器人, Arms (Anatomy), Extremities, Upper, Extremity, Upper, Limb, Pectoral, Limb, Thoracic, Limb, Upper, Pectoral limb, Pectoral limbs, Thoracic limb, Thoracic limbs, Upper extremities, Upper extremity, Upper limb, Upper limbs, Forelimb, Foreleg, Forelegs, Forelimbs, 控制器
Year: 2007
OAI identifier: oai:ir.sia.cn/:173321/6523
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