CAJ | 학술논문

机器人的动作控制与执行涉及三台以上的步进电机，一直是个难题．基于DSP设计了由步进电机和驱动系统组成的多台步进电机控制系统，提出了三台步进电机的控制方法，给出了每台电机的控制引脚和存储器设置方法以及不同的算法．通过对多台步进电机加减速及位置等的控制可以实现机器人的姿态控制，该方法还可用于控制系统的试验、演示等．
궤기인적동작공제여집행섭급삼태이상적보진전궤，일직시개난제．기우DSP설계료유보진전궤화구동계통조성적다태보진전궤공제계통，제출료삼태보진전궤적공제방법，급출료매태전궤적공제인각화존저기설치방법이급불동적산법．통과대다태보진전궤가감속급위치등적공제가이실현궤기인적자태공제，해방법환가용우공제계통적시험、연시등．
Robot motion control and execution involving more than three stepping motors is always a difficult problem. Introduced the design of muhiple stepping motor control system composed of the three stepping motors, DSP and drive system. Presented control method of three stepping motor by a DSP platform, and gived each motor control pins and a memory arrangement method and different algorithms. Posture control of the robot can be achieved based on the multiple stepping motors speed and position control, the method also can be used to control system test, demonstration and so on.