基于PC+PMAC的仿人机械臂控制系统的应用研究
Research on the Application of humanoid robot arm control system
针对仿人机械臂及其工作的特点，进行了一个关节型三自由度仿人机械手臂的控制系统的研究，主要是硬件结构、软件结构和控制方法等功能模块的设计。该控制系统采用PC机和PMAC多轴运动控制器进行两级控制,并且保证了系统重量轻、体积小、实时性好、可靠性高的要求，使仿人机械臂工作更具实用性。此项仿人机器臂平台的研究未来前景广阔。
im at the characteristics of Humanoid robot arm and its work, a research of a joint-type three-DOF humanoid robot arm control system was conducted, it includes the main hardware structure, software structure and control methods such as functional module design. The controlling system uses the PC and the PMAC to conduct 2-level control,and to ensure that the system light weight, small size, good real-time, high reliability requirements, so humanoid robot arm can be more practical.The research platform of the humanoid robotic arm has a future of a bright future.
李红梅、简毅
自动化技术、自动化技术设备机械学机械设计、机械制图
仿人机械臂PMAC控制系统
Humanoid robot armPMACcontrol system
李红梅,简毅.基于PC+PMAC的仿人机械臂控制系统的应用研究[EB/OL].(2010-04-13)[2025-08-11].http://www.paper.edu.cn/releasepaper/content/201004-437.点此复制
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