Design of electronic control system for electric robotic arm

https://elibrary.ru/TKTCWV

Abstract

The electric manipulator relies on electric drive, which is the most widely used driving method of the manipulator at present. It is characterized by convenient power supply, fast response, large driving force, convenient signal detection, transmission and processing, and can adopt a variety of flexible control schemes. The drive motor is generally controlled by stepper motors, DC servo, and AC servo ^[1]. In the application of industrial robots, the most common is the six-degree-of-freedom robotic arm. It is an industrial robot composed of six self-powered rotating joints connected in series, each with its own self-supporting control system. In this paper, a control system for six-degree-of-freedom manipulator is designed according to the industrial manipulator, which is mainly controlled by a single-chip microcomputer in a dedicated motion controller. The software design and hardware design of the control system are to be completed. Among them, the software design mainly includes the host computer software and MATLAB simulation design, and the hardware includes the design of the 32-channel servo controller SSC32 and the corresponding PCB circuit design.