基于DSP的GR-Ⅱ机器人控制器

来源期刊：中南大学学报(自然科学版)2001年第4期

论文作者：阳小燕 周国荣 陈新

文章页码：428 - 432

关键词：机器人;控制器; DSP

Key words：robot; controller; DSP

摘    要：在分析和研究GR-Ⅱ教学机器人原控制器的基础上,设计了1种能在机器人上研究、实现不同轨迹规划方法和控制算法的基于DSP的新型机器人控制器.该控制器以通用PC作为上位计算机,用6个DSP对机器人6个关节运动进行插补计算和伺服控制,采用高速CAN总线进行上位机与下位机之间的通讯,实现上位机和下位机的双速率运行,以适应复杂控制算法对计算时间和机器人运行性能与精度对高伺服频率的要求.同时,通过软件设计在上位机进行运动学、动力学计算,并据此修正下位机控制算法的PID参数,实现动力学近似补偿.

Abstract: On ground of analysis and research of the original controller of the GR-Ⅱpedagogic robot, the authors designed a new robotic controller based on DSP on which different track plans and control algorithms can be studied and realized. This controller takes universal PC as the supervisory-controlled computer, and six DSPs as controller′s cores to interpolation-calculate and servo-control the six joints of the robot. It adopts high-speed CAN Bus to communicate and realize the two-stage controllers running at different speeds, and can fulfil the demands of the calculating-speed of complex control algorithms and the high servo-frequency of capacity and accuracy of robot coursing. At the same time, the inverse kinematics and dynamics analysis can be made on the supervisory-controlled computer by software design. It can amend the parameters PID of the control algorithmon the controller according to the dynamics to realize the dynamics compensation.