基于DSP的草莓采摘机器人关节控制器的研究
Journal Title: Science Paper Online - Year 2007, Vol 2, Issue 3
Abstract
本课题以永磁同步电机为执行电机，采用三闭环位置伺服控制方案，直轴电枢电流为0的矢量控制策略，制作了以 DSP为处理器的运动控制器；采用ACPM750E为电机功率驱动模块，进行相应控制程序的设计。实验结果表明基于DSP的机器人关节控制器的运动误差在0.5%的范围内。
Authors and Affiliations
Liujiang Dai, Tiezhong Zhang, Li Yang
Keywords
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