CAJ | 학술논문

以Atmel公司的AVR 1280单片机为核心控制器，设计研制了六自由度多轴机械臂，对机械臂控制系统进行了硬件和软件设计。采用D-H法建立了六自由度机械臂数学建模，在Matlab中实现了运动仿真，并通过LabVIEW软件完成了上位机监控程序的设计。调试结果表明，系统整体运动灵活，协调性较好，能够实现机械臂远程控制以及轨迹规划功能，有着非常广阔的应用前景。
이Atmel공사적AVR 1280단편궤위핵심공제기，설계연제료륙자유도다축궤계비，대궤계비공제계통진행료경건화연건설계。채용D-H법건립료륙자유도궤계비수학건모，재Matlab중실현료운동방진，병통과LabVIEW연건완성료상위궤감공정서적설계。조시결과표명，계통정체운동령활，협조성교호，능구실현궤계비원정공제이급궤적규화공능，유착비상엄활적응용전경。
With the AVR 1280 MCU from Atmel Corp. as the core controller, the multi-axis manipulator with six degrees of freedom has been designed and developed, and the hardware and software of the control system for the manipulator are designed. By using D-H method, the mathematical model of the six degrees of freedom manipulator is established, the motion simulation is implemented in Matlab, and the design of PC monitoring program is completed through LabVIEW software. The result of debugging shows that the overall motion of the system is flexible with good coordination. The system can realize remote control of the manipulator and the function of trajectory planning, so it possesses very broad applicable prospects.