基于单片机的六自由度关节控制系统设计毕业设计.docx

本 科 毕 业 设 计 (论 文)基于单片机的六自由度关节控制系统设计Design of Six Degrees of Freedom Joint Control System Based on Single Chip Microcomputer学 院：专业班级：学生姓名：学 号：指导教师：年月毕业设计（论文）中文摘要基于单片机的六自由度关节控制系统设计摘 要：机器人是一种机械设备，它能进行编程并能在自动控制下进行某些操作和移动任务。而机械臂作为机器人的一个重要分支，其应用也越来越普及。如今，国内的机械臂控制系统已经成为一门热门的研究课题，因此，本文设计了一种基于单片机的六自由度关节控制系统。本文首先本文介绍了六自由度关节控制系统中包含的硬件结构。接着，介绍了机械臂的六自由度关节控制系统的软件实现，包括对软件进行功能分析以及程序的编写。具体设计流程是首先利用Protel进行电路原理图的设计，接着了解如何用Matlab对六自由度关节进行数学上控制运动模型的建模仿真，之后用Proteus软件进行了电子电路与控制程序的仿真。最后，实验证明本设计的方案可行，并对本设计的成果进行总结和反思，并指出了设计中存在的不足和今后的改进方向。关键词：机械臂；单片机；舵机；机器人毕业设计（论文）外文摘要Design of Six Degrees of Freedom Joint Control System Based on Single Chip MicrocomputerAbstract: The robot is a kind of mechanical equipment,it can be programmed and can perform certain operations as well as mobile tasks under automatic control.The mechanical armis an important branch of the robot andits application is becoming more and more popular. Now, the mechanical arm control system has become a popular research topic in our country,therefore,this paper designs a sixdegreeoffreedom joint control system based on singlechip microcomputer.This paper firstintroduces the hardware structure contained in the sixdegreesoffreedom joint control system.Besides, this paper introduces the software realization of the sixdegreesoffreedom joint control system of the manipulator, including the function analysis of the software and the realization process of the software.The specific design process isusing Protel to design circuit schematics andlearning how to use Matlab to simulate the motion model of the sixdegreesoffreedom joint.After that, I use Proteus software to carry out the simulation of electronic circuit and control program.Finally, experiments show that the design of the program is feasible. Then,I summarize and reflect on the results of this design.I also point out the shortcomings in the design and introduceits future improvement.Keywords:Mechanical arm; Single chip; Steering gear; Robot目录1 绪论11.1 研究背景和意义11.2 国内外发展现状和