基于MATLAB的机器人柔性手臂控制系统设计.doc

基于MATLAB的机器人柔性手臂控制系统设计 摘要 关键词： Robot flexible arm control system based on MATLAB Abstract：This design mainly talks about the design of robot flexible arm and control system. In the first part of the design, the freedom setting, mechanical design and design of the control system are three main points of the research.. The structure design of robot flexible arm is included in the second part. The third part contains the sensor and power source for this project. In the fourth part, the design of the robot flexible arm is designed, the hardware system is built, the software structure is determined, and the program is written. In the end, the paper puts forward some improvements to be improved, with some suggestions to solve the problems. Keywords: robot flexible arm, control system 目 录 1 绪论.............................................................1 1.1 机器人的发展过程...............................................1 1.2 拟人机器人的发展概况...........................................1 1.3 研究要点………………………………………………………………………..2 2 柔性手臂总体结构设计.............................................2 2.1 柔性手臂设计原则...............................................2 2.2 总体结构设计…………………………………………………………………..4 2.2.1 机器人柔性手臂自由度确定和关节设置…………………………………...4 2.2.2 机器人的手臂结构设计..........................................4 3 动力源及传感器………………………………………………………………….5 3.1 动力源概述……………………………………………………………………...5 3.2 动力源的选用…………………………………………………………………...6 3.3 舵机及其控制原理……………………………………………………………..6 3.3.1 舵机的内部结构………………………………………………………………7 3.3.2 舵机的工作原理………………………………………………………………7 3.3.3 舵机的控制……………………………………………………………………8 3.3.4 舵机的运动速度………………………………………………………………8 3.4 直流无刷电机和控制原理……………………………………………………….8 3.4.1 直流无刷电机介绍 …………………………………………………………..9 3.4.2 直流无刷电机工作原理……………………………………………………..10 3.5 传感器…………………………………………………………………………...10 4.1 控制方案概述…………………………………………………………………...11 4.2 手臂硬件需求分析……………………………………………………………...11 4.3 控制系统结构…………………………………………………………………..12 4.4 CPU板设计………………………………………………………………………13 4.4.1 控制板设计…………………………………………………………………...13 4.5 电机驱动板设计……