Embedded Motion Control System Design of Mechanical Hand
|Course||Mechanical Manufacturing and Automation|
|Keywords||digital signal processor (DSP) MCX314motion control chip Human computer interaction Manipulator Embedded|
In today’s industrial field, such as handling, processing and assembling,quite a few works have been finished by industrial robots. Some advanced control methods have been employed to industrial robots. This dissertation aims at the design of embedded motion control system for manipulator,which is used to handle and assembly.F2812is chosen as part of human-computer interaction and motion control part of the main control board. Two MCX314motion control chips can drive eight step motors or servo motors, can control two four degrees of freedom or a six degrees of freedom manipulator. The system has the advantages of lower cost, lower power consumption and higher efficiency. Through testing, the system has good performance, and has achieved the anticipated design target.The design in this project includes motion control system circuit and man-machine interaction system.The design of motion control system includes the select of the main control chip, peripheral circuit design, motion control chip choice and the design of the periphery circuit. Man-machine interaction design includes the choice of the main processor, peripheral circuit design and various interface circuit design. The design of the software includes:computation routines of manipulator kinematic inverse solution, straight lines and circular interpolation calculation, the system of off-line programming, the control system and man-machine interactive initialization portion of the system and the application in design, motion control chip initialization and movement function library design. In the end, experiments have been conducted to test the system hardware.In this dissertation, I have completed the hardware design of motion control system, system initial program, system application program and the function library. The concepts presented in this dissertation built the base of embedded motion control system for industrial robots both in theory and practice.