| 刘磊,余汾芬.基于STM32的机械臂运动控制系统设计研究[J].井冈山大学自然版,2019,40(1):73-77 |
| 基于STM32的机械臂运动控制系统设计研究 |
| RESEARCH ON THE DESIGN OF MANIPULATOR MOTION CONTROL SYSTEM BASED ON STM32 |
| 投稿时间：2018-10-04 修订日期：2018-11-26 |
| DOI：10.3969/j.issn.1674-8085.2019.01.015 |
| 中文关键词: 机械臂 运动控制 STM32 角度位移传感器 模糊PID控制理论 运动轨迹 |
| 英文关键词: manipulator motion control stm32 displacement sensor fuzzy pid control theory motion trajector |
| 基金项目:2016年安徽省高等学校省级质量工程项目（2016tszy052） |
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| 摘要点击次数: 10532 |
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| 中文摘要: |
| 为了提高机械臂运动的准确性以及提高机械臂的控制效率，运用STM32处理器设计了一种机械臂运动控制系统。采用STM32作为主控系统的核心，通过角度位移传感器构成机械臂的感知模块，利用舵机驱动电路构成机械臂的运动模块，从而形成机械臂运动控制系统的硬件单元。以模糊PID控制理论为软件核心，对机械臂运动过程中的轨迹偏差进行计算，形成控制量。主控器STM32将根据控制量对机械臂的运动模块发出调控信号，使得机械臂能够快速回归预定的运动轨迹。实验结果表明，本文所设计的机械臂运动控制系统，能够快速、准确地对机械臂的运动状态进行控制，提高机械臂运动的准确性。 |
| 英文摘要: |
| To improve the accuracy of the manipulator motion and the control efficiency of the manipulator, a manipulator motion control system is designed by using STM32 processor.STM32 is used as the core of the main control system. The perception module of the manipulator is composed of angular displacement sensor, and the motion module of the manipulator is composed of the steering motor driving circuit. They form the hardware unit of the manipulator motion control system.Taking the theory of fuzzy PID control as the software core, the trajectory deviation of the manipulator is calculated to form the control quantity.The main controller STM32 will send the control signal to the motion module of the manipulator according to the control quantity, so that the manipulator can quickly return to the predetermined trajectory.The experimental results show that the motion control system of the manipulator designed in this paper can quickly and accurately control the motion state of the manipulator, which can improve the accuracy of the motion of the manipulator. |
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