%0 Journal Article
%T 一体化驱控技术在Delta机器人上的应用<br>Applying Drive and Control Integrated Technology to Delta Robot
%A 吴晓君
%A 祁玫丹
%A 马长捷
%A 陈竹
%A 林宁
%J 机械科学与技术
%D 2018
%X 本文将驱动器与控制器相结合并改进了Delta机器人运动学求解的方法，应用在Delta机器人上实现了一体化驱动技术。该一体化驱控技术采用ARM+DSP的核心架构，以ARM为核心的采用嵌入式开放式控制子系统主要实现机器人的轨迹规划、外围控制以及通讯，以DSP C28为核心的高效运算从控制子系统主要实现伺服电机的驱动和机器人的运动控制。同时，本文利用几何向量法针对Delta机器人运动学正反解的求解方法进行改进，方便一体化驱控技术的软件开发。最后将所得研究结果系统的应用在Delta机器人本体，机器人重复定位精度误差达到了±0.01 mm，各轴的误差较为稳定，可靠性较强，系统的总体性能能够满足运动控制系统的功能要求。<br>This article integrates a driver with a controller and improves kinematic mathematical model of a Delta robot to achieve the drive and control integration in the Delta robot. The drive and control integrated technology uses the architecture of ARM + DSP, the ARM core in the master subsystem mainly achieves the trajectory generation, peripheral control and communication. The DSP C28 core in the control subsystem mainly achieves the control of a servo motor and the motion control of the Delta robot. Meanwhile, an improved method which ueses the geometric vector method is presented to desolve the kinematic mathematical model of the Delta robot which makes the software design more convenient. Finally, the application results obtained with the Delta robot system-duplicated robot body shows that the robot's positioning accuracy error is ±0.01 mm, the error for each axis is stable and reliable, and the overall performance of the robot system fulfills the functional requirements of the motion control system
%K 一体化
%K 驱控技术
%K Delta机器人
%K 运动学正反解&lt
%K br&gt
%K integration
%K drive and control
%K Delta robot
%K kinematic mathematical model
%U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract6951.shtml