基于LM629机器人单关节控制器设计.doc

题 目 基于LM629的机器人单关节控制器设计 摘 要 近年来随着人工智能技术、计算机技术以及网络技术等相关技术的飞速发展，机器人在各个领域已经得到了广泛的应用，成为了一类关键的基础装备。机器人单关节控制器是机器人的重要组成部分，每个完整的机器人控制系统都是由单个的机器人单关节控制器所组成，因此机器人单关节控制器对机器人控制系统起着决定性的作用。 LM629是美国国家半导体公司生产的可编程全数字精密运动控制芯片，内置PID算法和梯形图发生器能够自动生成速度曲线，平稳地加速、减速。本文采用LM629精密运动控制芯片、AT89C51CC03单片机和少量的驱动电路构成了基于LM629和CAN总线的机器人单关节控制器。实验表明，由AT89C51CC03和LM629建立的CAN总线的机器人单关节控制器，不仅简化了机器人控制系统软、硬件设计，提高系统可靠性，减轻设计工作量，而且提高了系统性能，具有反应快，控制精度高、实时性能好等优点。 通过对机器人单关节控制器的软硬件设计和反复的调试，所制作的机器人单关节控制器已经初步完成了预定的功能。AT89C51CC03单片机对LM629进行控制和初步的数据处理，通过CAN现场总线与主机或其他设备进行实时通信，可以组成现场总线控制系统。 在本次毕业设计中完成了机器人单关节控制器的设计制作及软件系统的设计调试。 关键词 LM629运动控制器 51单片机 CAN总线 Title Design of Simplex Articulatory Controller of Robot Based on LM629 Abstract In recent years, with correlation technology, artificial intelligence technology, computer technology as well as networking rapid development, robot has already obtained application widespread in each domain and become a kind of essential foundation equipment. The simplex articulatory controller of robot is one of the most constituent of robot. Each complete control system of robot is composed by the simplex articulatory controller of robot. Therefore, the simplex articulatory controller of robot is playing the decisive role in the control system of robot. LM629 is a programmable control chip of precise movement which produced by Semiconductor Company in USA. It contains the PID algorithm and the trapezoidal chart generator which can produce the velocity curve automatically, acceleration and deceleration steadily. This article used the LM629, AT89C51CC03 and a few actuation electric circuits to constitute the simplex articulatory controller of robot based on LM629 and CAN bus. The experiment indicates the simplex articulatory controller of robot which is made up by AT89C51CC03 and LM629 can simplify design of the robot control system of software and hardware, enhance reliability of the system, reduce work load of the design. It