CAJ | 학술논문

针对具有危险的特种环境，设计一个可以代替人工作业的排爆机器人控制系统。该系统以DSP为中央处理核心，用6个伺服电机配合铝制合金搭建机械臂硬件结构，利用DSP增强型PWM模块驱动伺服电机，上位机采用PC机进行控制。实现了串口测试软件向SCI模块发送指令的功能，从而控制机械臂，仿生模仿人手的各类运动。实验结果表明：控制系统精度高，调节快，该机械臂有强的承重能力，能准确握紧危险品并放于隔离箱中。
침대구유위험적특충배경，설계일개가이대체인공작업적배폭궤기인공제계통。해계통이DSP위중앙처리핵심，용6개사복전궤배합려제합금탑건궤계비경건결구，이용DSP증강형PWM모괴구동사복전궤，상위궤채용PC궤진행공제。실현료천구측시연건향SCI모괴발송지령적공능，종이공제궤계비，방생모방인수적각류운동。실험결과표명：공제계통정도고，조절쾌，해궤계비유강적승중능력，능준학악긴위험품병방우격리상중。
Aiming at dangerous special environment,a control system for eod robot which could be used to replace manual opera-tion was designed. In this system,DSP was used as central processing core,six servo motors with aluminum alloy were used to com-plete hardware structure of the mechanical arm. The DSP enhanced PWM module was used to drive the servo motor. Host computer was controlled by PC. Instruction was sent to SCI by the serial testing software,so as to control mechanical arm and can realize multi-an-gle movement. The experimental results show that the control system’s precision is high,the adjustment velocity is fast,the mechani-cal arm has strong bearing ability and can accurately hold dangerous goods and put them in isolation box.